Struct rrt::Tree

pub struct Tree {
    pub dim: usize,
    pub kdtree: KdTree<usize, Vec<f64>>,
    pub vertices: Vec<Node<Vec<f64>>>,
    pub name: String,
}

Fields

dim: usize

kdtree: KdTree<usize, Vec<f64>>

vertices: Vec<Node<Vec<f64>>>

name: String

Methods

impl Tree

fn new(name: &str, dim: usize) -> Self

fn add_vertex(&mut self, q: &[f64]) -> usize

fn add_edge(&mut self, q1_id: usize, q2_id: usize)

fn get_nearest_id(&self, q: &[f64]) -> usize

fn extend<FF>(
    &mut self,
    q_target: &[f64],
    extend_length: f64,
    is_free: &FF
) -> ExtendStatus where
    FF: Fn(&[f64]) -> bool, 

fn connect<FF>(
    &mut self,
    q_target: &[f64],
    extend_length: f64,
    is_free: &FF
) -> ExtendStatus where
    FF: Fn(&[f64]) -> bool, 

fn get_until_root(&self, id: usize) -> Vec<Vec<f64>>

Trait Implementations

impl Debug for Tree

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.