Trait CSpace 

pub trait CSpace<X, const N: usize>: FromParams + Sized {
    type Traj: Trajectory<X, N>;

    // Required methods
    fn volume(&self) -> X;
    fn cost<R1, R2, S1, S2>(
        &self,
        start: &Vector<X, R1, S1>,
        end: &Vector<X, R2, S2>,
    ) -> X
       where X: SimdRealField,
             R1: Dim,
             R2: Dim,
             S1: Storage<X, R1>,
             S2: Storage<X, R2>,
             ShapeConstraint: SameNumberOfRows<R1, R2> + SameNumberOfRows<R1, Const<N>> + SameNumberOfRows<R2, Const<N>>;
    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>>;
    fn is_free<S>(&self, state: &Vector<X, Const<N>, S>) -> bool
       where S: Storage<X, Const<N>>;
    fn saturate(&self, a: &mut SVector<X, N>, b: &SVector<X, N>, delta: X);
    fn sample(&mut self) -> SVector<X, N>;
}

A generic configuration space for sampling-based problems

Descibes the state space of the system that a path is being planned for

Required Associated Types

type Traj: Trajectory<X, N>

Required Methods

fn volume(&self) -> X

An overestimate of the volume of the space (should remain constant)

fn cost<R1, R2, S1, S2>( &self, start: &Vector<X, R1, S1>, end: &Vector<X, R2, S2>, ) -> X

where X: SimdRealField, 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

Must satisfy the triangle inequality

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

Returns None if trajectory isn’t possible due to system dynamics

fn is_free<S>(&self, state: &Vector<X, Const<N>, S>) -> bool

where S: Storage<X, Const<N>>,

Determines if the given point is a valid state in the space

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

fn sample(&mut self) -> SVector<X, N>

Sample a point in the configuration space

Dyn Compatibility

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementors

impl<X> CSpace<X, N> for LeaderFollowerPolarSpace<X>

where X: Scalar + SampleUniform,

type Traj = EuclideanTrajectory<X, N>

impl<X> CSpace<X, N> for LeaderFollowerSphericalSpace<X>

where X: Scalar + SampleUniform,

type Traj = EuclideanTrajectory<X, N>

impl<X, const D: usize, const N: usize> CSpace<X, N> for LeaderFollowerSpace<X, D, N>

where X: SimdRealField + SampleUniform + Copy, X::Element: Scalar,

type Traj = LinearTrajectory<X, NormCost, N>

impl<X, const N: usize> CSpace<X, N> for EuclideanSpace<X, N>

where X: Scalar + SampleUniform,

type Traj = EuclideanTrajectory<X, N>

impl<X, const N: usize> CSpace<X, N> for LinearSpace<X, N>

where X: Scalar + SampleUniform,

type Traj = LinearTrajectory<X, NormCost, N>