Struct PRMPlanner 

pub struct PRMPlanner { /* private fields */ }

A probabilistic roadmap planner for path planning

Implementations

impl PRMPlanner

pub fn new( config: PRMConfig, lower_bounds: Array1<f64>, upper_bounds: Array1<f64>, ) -> SpatialResult<Self>

Create a new PRM planner with the given configuration and bounds

pub fn set_collision_checker<F>(&mut self, checker: Box<F>)

where F: Fn(&Array1<f64>) -> bool + 'static,

Set the collision checker function

pub fn build_roadmap(&mut self) -> SpatialResult<()>

Build the roadmap by sampling random configurations and connecting them

pub fn find_path( &mut self, start: &Array1<f64>, goal: &Array1<f64>, ) -> SpatialResult<Option<Path<Array1<f64>>>>

Find a path from start to goal using the built roadmap

pub fn create_2d_with_polygons( config: PRMConfig, obstacles: Vec<Vec<[f64; 2]>>, x_range: (f64, f64), y_range: (f64, f64), ) -> Self

Create a PRM planner for 2D spaces with polygon obstacles

Trait Implementations

impl Debug for PRMPlanner

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

Formats the value using the given formatter.