Struct LeaderFollowerSpace 

pub struct LeaderFollowerSpace<X, const D: usize, const N: usize>
where
    X: SampleUniform,
{ /* private fields */ }

A uniformly sampled Cuboid with normed cost function

N must be D*2

Implementations

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

where X: SimdRealField + SampleUniform + Copy,

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

where X::Element: Scalar,

pub fn intial_sensor_range(&self) -> (X::Element, X::Element)

pub fn get_sensor_range(&self) -> (X::Element, X::Element)

pub fn set_sensor_range( &mut self, sensor_range: (X::Element, X::Element), ) -> Option<()>

Trait Implementations

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>

fn volume(&self) -> X

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

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

where R1: Dim, R2: Dim, S1: Storage<X, R1>, S2: Storage<X, R2>, ShapeConstraint: SameNumberOfRows<R1, R2>,

Cost function between two arbitrary points within the space Always returns a value

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

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

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

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

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

type Params = LeaderFollowerSpaceParams<<X as SimdValue>::Element, N>

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

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

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

fn get_leader<S: Storage<X, Const<N>>>( state: &Vector<X, Const<N>, S>, ) -> Vector<X, Const<D>, SliceStorage<'_, X, Const<D>, Const<1_usize>, S::RStride, S::CStride>>

Get the position of the leader within the dimensional space

fn get_follower<S: Storage<X, Const<N>>>( state: &Vector<X, Const<N>, S>, ) -> Vector<X, Const<D>, SliceStorage<'_, X, Const<D>, Const<1_usize>, S::RStride, S::CStride>>

Get the position of the follower within the dimensional space

fn get_state<S1, S2>( leader: &Vector<X, Const<D>, S1>, follower: &Vector<X, Const<D>, S2>, ) -> SVector<X, N>

where X: Scalar, S1: Storage<X, Const<D>>, S2: Storage<X, Const<D>>,

Get the position of the follower within the dimensional space