RrtxState

path_planning::rrtx

Struct RrtxState 

Source 
pub struct RrtxState<X, CS, OS, const N: usize>
where
    X: Scalar,
    CS: CSpace<X, N>,
    OS: ObstacleSpace<X, CS, N>,
{
    pub graph: RrtxGraph<X, CS::Traj, N>,
    pub current_path: Option<(SVector<X, N>, CS::Traj, NodeIndex)>,
    pub pose: SVector<X, N>,
    pub obs_space: OS,
    pub radius: X,
    pub robot_specs: RobotSpecs<X>,
    pub params: RrtxParams<X>,
}
Expand description

Rrtx Serializable State information

Fields§

§graph: RrtxGraph<X, CS::Traj, N>

All the nodes with their associated costs and edges that connect them

§current_path: Option<(SVector<X, N>, CS::Traj, NodeIndex)>

The current path being travelled from some point to a node in the graph and the trajectory of how to get there

§pose: SVector<X, N>

The last know current pose of the system

§obs_space: OS

Tracks the obstacles in the space

§radius: X

Shrinking ball radius

§robot_specs: RobotSpecs<X>

Robot specifications

§params: RrtxParams<X>

Trait Implementations§

Source§

impl<X, CS, OS, const N: usize> Clone for RrtxState<X, CS, OS, N>
where X: Scalar, CS: CSpace<X, N>, OS: ObstacleSpace<X, CS, N>,

Source§

fn clone(&self) -> Self

Returns a duplicate of the value. Read more
1.0.0 · Source§

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

Performs copy-assignment from source. Read more
Source§

impl<X, CS, OS, const N: usize> Debug for RrtxState<X, CS, OS, N>
where X: Scalar + Debug, CS: CSpace<X, N> + Debug, OS: ObstacleSpace<X, CS, N> + Debug, CS::Traj: Debug,

Source§

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

Formats the value using the given formatter. Read more
Source§

impl<'de, X, CS, OS, const N: usize> Deserialize<'de> for RrtxState<X, CS, OS, N>
where X: Scalar + DeserializeOwned, CS: CSpace<X, N>, OS: ObstacleSpace<X, CS, N> + DeserializeOwned, CS::Traj: DeserializeOwned,

Source§

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
Source§

impl<X, CS, OS, const N: usize> Serialize for RrtxState<X, CS, OS, N>
where X: Scalar + Serialize, CS: CSpace<X, N>, OS: ObstacleSpace<X, CS, N> + Serialize, CS::Traj: Serialize,

Source§

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>
where __S: Serializer,

Serialize this value into the given Serde serializer. Read more

Auto Trait Implementations§

§

impl<X, CS, OS, const N: usize> Freeze for RrtxState<X, CS, OS, N>
where OS: Freeze, X: Freeze, <CS as CSpace<X, N>>::Traj: Freeze,

§

impl<X, CS, OS, const N: usize> RefUnwindSafe for RrtxState<X, CS, OS, N>
where OS: RefUnwindSafe, X: RefUnwindSafe, <CS as CSpace<X, N>>::Traj: RefUnwindSafe,

§

impl<X, CS, OS, const N: usize> Send for RrtxState<X, CS, OS, N>
where OS: Send, <CS as CSpace<X, N>>::Traj: Send,

§

impl<X, CS, OS, const N: usize> Sync for RrtxState<X, CS, OS, N>
where OS: Sync, <CS as CSpace<X, N>>::Traj: Sync,

§

impl<X, CS, OS, const N: usize> Unpin for RrtxState<X, CS, OS, N>
where OS: Unpin, X: Unpin, <CS as CSpace<X, N>>::Traj: Unpin,

§

impl<X, CS, OS, const N: usize> UnwindSafe for RrtxState<X, CS, OS, N>
where OS: UnwindSafe, X: UnwindSafe, <CS as CSpace<X, N>>::Traj: UnwindSafe,

Blanket Implementations§

Source§

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

Source§

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
Source§

impl<T> Borrow<T> for T
where T: ?Sized,

Source§

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
Source§

impl<T> BorrowMut<T> for T
where T: ?Sized,

Source§

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

Mutably borrows from an owned value. Read more
Source§

impl<T> CloneToUninit for T
where T: Clone,

Source§

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
Source§

impl<T> Downcast for T
where T: Any,

Source§

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.
Source§

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.
Source§

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.
Source§

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.
Source§

impl<T> DowncastSync for T
where T: Any + Send + Sync,

Source§

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.
Source§

impl<T> From<T> for T

Source§

fn from(t: T) -> T

Returns the argument unchanged.

Source§

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

Source§

fn into(self) -> U

Calls U::from(self).

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

Source§

impl<T> Pointable for T

Source§

const ALIGN: usize

The alignment of pointer.
Source§

type Init = T

The type for initializers.
Source§

unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more
Source§

unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more
Source§

unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more
Source§

unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more
Source§

impl<T> Same for T

Source§

type Output = T

Should always be Self
Source§

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

Source§

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

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
Source§

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
Source§

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
Source§

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
Source§

impl<T> ToOwned for T
where T: Clone,

Source§

type Owned = T

The resulting type after obtaining ownership.
Source§

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
Source§

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
Source§

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

Source§

type Error = Infallible

The type returned in the event of a conversion error.
Source§

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
Source§

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

Source§

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

The type returned in the event of a conversion error.
Source§

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
Source§

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

Source§

fn vzip(self) -> V

Source§

impl<T> DeserializeOwned for T
where T: for<'de> Deserialize<'de>,