Struct AStarPlanner 

pub struct AStarPlanner { /* private fields */ }

A* search algorithm planner

Implementations

impl AStarPlanner

pub fn new() -> Self

Create a new A* planner with default configuration

pub fn with_max_iterations(self, maxiterations: usize) -> Self

Set the maximum number of iterations

pub fn with_weight(self, weight: f64) -> Self

Set the heuristic weight (for weighted A*)

pub fn search<N: Clone + Eq + Hash>( &self, start: N, goal: N, neighbors_fn: &dyn Fn(&N) -> Vec<(N, f64)>, heuristic_fn: &dyn Fn(&N, &N) -> f64, ) -> SpatialResult<Option<Path<N>>>

Run the A* search algorithm

Arguments

• start - The start state
• goal - The goal state
• neighbors_fn - Function that returns neighboring states and costs
• heuristic_fn - Function that estimates the cost from a state to the goal

Returns

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

Trait Implementations

impl Debug for AStarPlanner

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

Formats the value using the given formatter.

impl Default for AStarPlanner

fn default() -> Self

Returns the “default value” for a type.