Struct VisibilityGraphPlanner 

pub struct VisibilityGraphPlanner {
    pub obstacles: Vec<Array2<f64>>,
    /* private fields */
}

A pathplanning planner that uses visibility graphs to find paths

Fields

obstacles: Vec<Array2<f64>>

The obstacles in the environment (polygons)

Implementations

impl VisibilityGraphPlanner

pub fn new(obstacles: Vec<Array2<f64>>) -> Self

Create a new visibility graph planner with the given obstacles

pub fn with_fast_path(self, use_fastpath: bool) -> Self

Set whether to use the fast path optimization

When enabled, the planner first checks if there’s a direct path from start to goal before building the full visibility graph.

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

Pre-compute the visibility graph for the given obstacles

This can be called explicitly to build the graph once and reuse it for multiple path queries.

pub fn find_path( &mut self, start: [f64; 2], goal: [f64; 2], ) -> SpatialResult<Option<Path<[f64; 2]>>>

Find a path from start to goal

Arguments

• start - The start coordinates [x, y]
• goal - The goal coordinates [x, y]

Returns

• Ok(Some(Path)) - A path was found
• Ok(None) - No path was found
• Err(SpatialError) - An error occurred

Trait Implementations

impl Clone for VisibilityGraphPlanner

fn clone(&self) -> VisibilityGraphPlanner

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for VisibilityGraphPlanner

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

Formats the value using the given formatter.