Struct PRMConfig 

pub struct PRMConfig {
    pub num_samples: usize,
    pub connection_radius: f64,
    pub max_connections: usize,
    pub seed: Option<u64>,
    pub goal_bias: f64,
    pub goal_threshold: f64,
    pub bidirectional: bool,
    pub lazy_evaluation: bool,
}

Configuration for the PRM planner

Fields

num_samples: usize

Number of random samples to generate

connection_radius: f64

Maximum distance for connecting nearby configurations

max_connections: usize

Maximum number of connections per node

seed: Option<u64>

Random number generator seed

goal_bias: f64

Bias towards the goal (probability of sampling near the goal)

goal_threshold: f64

Threshold for considering a point close enough to the goal

bidirectional: bool

Enable bidirectional search for faster pathfinding

lazy_evaluation: bool

Use lazy evaluation for collision checking

Implementations

impl PRMConfig

pub fn new() -> Self

Create a new PRM configuration with default values

pub fn with_num_samples(self, numsamples: usize) -> Self

Set the number of random samples

pub fn with_connection_radius(self, radius: f64) -> Self

Set the maximum connection radius

pub fn with_max_connections(self, maxconnections: usize) -> Self

Set the maximum number of connections per node

pub fn with_seed(self, seed: u64) -> Self

Set the random seed

pub fn with_goal_bias(self, bias: f64) -> Self

Set the goal bias

pub fn with_goal_threshold(self, threshold: f64) -> Self

Set the goal threshold

pub fn with_bidirectional(self, bidirectional: bool) -> Self

Enable bidirectional search

pub fn with_lazy_evaluation(self, lazyevaluation: bool) -> Self

Enable lazy evaluation for collision checking

Trait Implementations

impl Clone for PRMConfig

fn clone(&self) -> PRMConfig

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PRMConfig

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

Formats the value using the given formatter.

impl Default for PRMConfig

fn default() -> Self

Returns the “default value” for a type.