Struct ContinuousAStarPlanner

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pub struct ContinuousAStarPlanner {
    pub obstacles: Vec<Vec<[f64; 2]>>,
    pub step_size: f64,
    pub collisionthreshold: f64,
}

Expand description

2D continuous space A* planner with polygon obstacles

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§obstacles: Vec<Vec<[f64; 2]>>

Obstacle polygons (each polygon is a vector of 2D points)

§step_size: f64

Step size for edge discretization

§collisionthreshold: f64

Collision distance threshold

Implementations§

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impl ContinuousAStarPlanner

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pub fn new( obstacles: Vec<Vec<[f64; 2]>>, step_size: f64, collisionthreshold: f64, ) -> Self

Create a new continuous space A* planner

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pub fn is_in_collision(&self, point: &[f64; 2]) -> bool

Check if a point is in collision with any obstacle

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pub fn line_in_collision(&self, start: &[f64; 2], end: &[f64; 2]) -> bool

Check if a line segment intersects with any obstacle

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

Find a path from start to goal in continuous space

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impl Clone for ContinuousAStarPlanner

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fn clone(&self) -> ContinuousAStarPlanner

Returns a duplicate of the value. Read more

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

Performs copy-assignment from source. Read more

Auto Trait Implementations§

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impl UnwindSafe for ContinuousAStarPlanner

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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