Struct VisibilityGraph 

pub struct VisibilityGraph {
    pub vertices: Vec<Point2D>,
    pub adjacency_list: HashMap<Point2D, Vec<(Point2D, f64)>>,
}

A visibility graph for pathfinding with polygon obstacles

Fields

vertices: Vec<Point2D>

Vertices of the graph (including start, goal, and obstacle vertices)

adjacency_list: HashMap<Point2D, Vec<(Point2D, f64)>>

Adjacency list representation of the graph

Implementations

impl VisibilityGraph

pub fn new() -> Self

Create a new empty visibility graph

pub fn add_vertex(&mut self, vertex: Point2D)

Add a vertex to the graph

pub fn add_edge(&mut self, from: Point2D, to: Point2D, weight: f64)

Add an edge to the graph

pub fn get_neighbors(&self, vertex: &Point2D) -> Vec<(Point2D, f64)>

Get all neighbors of a vertex

pub fn find_path(&self, start: Point2D, goal: Point2D) -> Option<Path<[f64; 2]>>

Find the shortest path between two points using A* search

Trait Implementations

impl Clone for VisibilityGraph

fn clone(&self) -> VisibilityGraph

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for VisibilityGraph

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

Formats the value using the given formatter.

impl Default for VisibilityGraph

fn default() -> Self

Returns the “default value” for a type.