LinearSpace

path_planning::cspace

Struct LinearSpace 

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pub struct LinearSpace<X, const N: usize>
where
    X: SampleUniform,
{ /* private fields */ }
Expand description

A uniformly sampled Cuboid with normed cost function

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impl<X, const N: usize> LinearSpace<X, N>
where X: Scalar + SampleUniform,

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pub fn new(bounds: Bounds<X, N>, norm: NormCost, rng: RNG) -> Result<Self>

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impl<X, const N: usize> CSpace<X, N> for LinearSpace<X, N>
where X: Scalar + SampleUniform,

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type Traj = LinearTrajectory<X, NormCost, N>

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fn volume(&self) -> X

An overestimate of the volume of the space (should remain constant)
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fn cost<R1, R2, S1, S2>( &self, a: &Vector<X, R1, S1>, b: &Vector<X, R2, S2>, ) -> X
where X: Scalar, R1: Dim, R2: Dim, S1: Storage<X, R1>, S2: Storage<X, R2>, ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfRows<R1, Const<N>> + SameNumberOfRows<R2, Const<N>>,

Cost function between two arbitrary points within the space Always returns a value Read more
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fn trajectory<S1, S2>( &self, start: Vector<X, Const<N>, S1>, end: Vector<X, Const<N>, S2>, ) -> Option<FullTraj<X, Self::Traj, S1, S2, N>>
where X: Scalar, S1: Storage<X, Const<N>>, S2: Storage<X, Const<N>>,

Calculate the trajectory data between the given start and end points for the system Read more
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fn is_free<S>(&self, _: &Vector<X, Const<N>, S>) -> bool
where S: Storage<X, Const<N>>,

Determines if the given point is a valid state in the space
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fn saturate(&self, a: &mut SVector<X, N>, b: &SVector<X, N>, delta: X)

Modify a such that the cost from a -> b is no more than delta away while moving a as little as possible
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fn sample(&mut self) -> SVector<X, N>

Sample a point in the configuration space
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impl<X, const N: usize> FromParams for LinearSpace<X, N>
where X: Scalar + SampleUniform,

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type Params = LinearSpaceParams<X, N>

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fn from_params(params: Self::Params) -> Result<Self>

Auto Trait Implementations§

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impl<X, const N: usize> Freeze for LinearSpace<X, N>
where X: Freeze,

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impl<X, const N: usize> RefUnwindSafe for LinearSpace<X, N>
where X: RefUnwindSafe, <X as SampleUniform>::Sampler: RefUnwindSafe,

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impl<X, const N: usize> Send for LinearSpace<X, N>
where X: Send, <X as SampleUniform>::Sampler: Send,

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impl<X, const N: usize> Sync for LinearSpace<X, N>
where X: Sync, <X as SampleUniform>::Sampler: Sync,

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impl<X, const N: usize> Unpin for LinearSpace<X, N>
where X: Unpin, <X as SampleUniform>::Sampler: Unpin,

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impl<X, const N: usize> UnwindSafe for LinearSpace<X, N>
where X: UnwindSafe, <X as SampleUniform>::Sampler: UnwindSafe,

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> Downcast for T
where T: Any,

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fn into_any(self: Box<T>) -> Box<dyn Any>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait.
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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.
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fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.
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impl<T> DowncastSync for T
where T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Send + Sync>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait.
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Pointable for T

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const ALIGN: usize

The alignment of pointer.
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type Init = T

The type for initializers.
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unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more
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unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more
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unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more
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unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more
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impl<T> Same for T

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type Output = T

Should always be Self
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impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
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impl<V, T> VZip<V> for T
where V: MultiLane<T>,

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fn vzip(self) -> V