Obstacle

path_planning::obstacles

Trait Obstacle 

Source 
pub trait Obstacle<X, CS, const N: usize>: FromParams + Clone
where
    CS: CSpace<X, N>,
{
    // Required methods
    fn trajectory_free<FT, S1, S2>(&self, t: &FT) -> bool
       where FT: FullTrajectory<X, CS::Traj, S1, S2, N>,
             S1: Storage<X, Const<N>>,
             S2: Storage<X, Const<N>>;
    fn is_free<S>(&self, x: &Vector<X, Const<N>, S>) -> bool
       where S: Storage<X, Const<N>>;
}
Expand description

An generic obstacle in an Rrt-like environment

Required Methods§

Source

fn trajectory_free<FT, S1, S2>(&self, t: &FT) -> bool
where FT: FullTrajectory<X, CS::Traj, S1, S2, N>, S1: Storage<X, Const<N>>, S2: Storage<X, Const<N>>,

Checks that the obstacle does not intersect the given trajectory

Source

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

Checks that the coordinate is not in the obstacle

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§