Module planning 

Motion planning: A* grid search and potential-field velocity commands.

Operates on the OccupancyGrid type from the bridge module. Two planners are provided:

• astar: discrete A* on the occupancy grid returning a cell path.
• potential_field: continuous-space repulsive/attractive field producing a velocity command.

Structs

GridPath

Result of an A* search.

PotentialFieldConfig

Configuration for the potential field planner.

VelocityCommand

Output of the potential field planner: a 3-D velocity command.

Enums

PlanningError

Errors from planning operations.

Functions

astar

Run A* on grid, returning the shortest GridPath from start to goal. Cells with occupancy >= 0.5 are treated as impassable.

path_to_waypoints

Convert a GridPath (grid cells) to world-space waypoints using the grid resolution and origin.

potential_field

Compute a velocity command using attractive + repulsive potential fields.

Type Aliases

Cell

A 2-D grid cell coordinate.

Result