Struct RrtStar 

pub struct RrtStar<X, CS, OS, const N: usize>
where
    X: Scalar,
    CS: CSpace<X, N>,
    OS: ObstacleSpace<X, CS, N>,
{ /* private fields */ }

RRT* implementation

Trait Implementations

impl<X, CS, OS, const N: usize> PathPlanner<X, CS, OS, N> for RrtStar<X, CS, OS, N>

where X: Scalar, CS: CSpace<X, N> + Send + Sync, CS::Traj: Send + Sync, OS: ObstacleSpace<X, CS, N> + Send + Sync, OS::Obs: Send + Sync,

type Params = RrtStarParams<X>

type State = RrtStarState<X, CS, OS, N>

fn new( init: SVector<X, N>, goal: SVector<X, N>, robot_specs: RobotSpecs<X>, cspace: CS, obs_space: OS, params: Self::Params, ) -> Result<Self>

Define a new Path Planner with an initial set of obstacles in the space.

fn create_node(&mut self) -> &Self::State

Samples nodes until one is added to the search graph.

fn sample_node(&mut self) -> Option<&Self::State>

Sample once to add a node to the graph

fn check_sensors(&mut self)

Checks the sensor on the robot for obstacles updates within robot_specs.sensor_range

fn get_obs_space(&self) -> &OS

Returns reference to the currently used obstacle space

fn get_obs_space_mut(&mut self) -> &mut OS

Returns mutable reference to the currently used obstacle space

fn get_cspace(&self) -> &CS

Returns reference to the currently used cspace

fn get_cspace_mut(&mut self) -> &mut CS

Returns mutable reference to the currently used cspace

fn check_nodes(&mut self, use_obs_space: bool, use_cspace: bool)

Checks the spaces specified that all nodes are still valid in that space

fn update_pose( &mut self, pose: SVector<X, N>, nearest: bool, ) -> Option<MoveGoal<X, N>>

Updates the pose of the system, possibly changing the move goal

fn get_tree(&self) -> Vec<FullTrajRefOwned<'_, X, CS::Traj, N>>

Get the search tree as a list of edges

fn get_current_path(&self) -> Option<FullTrajOwned<X, CS::Traj, N>>

Returns Some trajectory the next move goal if the global goal is reachable

fn get_path_to_goal(&self) -> Option<Vec<SVector<X, N>>>

Returns Some path to the goal if the global goal is reachable

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

Get the last known pose of the system

fn get_state(&self) -> &Self::State

Get a reference to the current serializable state information

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

Returns the coordinates of the goal node

fn count(&self) -> usize

Returns the number of nodes in the graph plus the initial node (which is technically never added to the graph)

fn get_cost_to_goal(&self) -> Option<X>

Returns the total cost to reach the goal from the most recent pose given in update_pose

fn get_cost_to_move_goal(&self) -> Option<X>