Struct RRTPlanner 

pub struct RRTPlanner { /* private fields */ }

Rapidly-exploring Random Tree (RRT) planner

Implementations

impl RRTPlanner

pub fn new(config: RRTConfig, dimension: usize) -> Self

Create a new RRT planner with the given configuration

pub fn with_collision_checker<F>(self, collisionchecker: F) -> Self

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

Set the collision checking function

The function should return true if there is a collision between the two points

pub fn with_bounds( self, min_bounds: Array1<f64>, max_bounds: Array1<f64>, ) -> SpatialResult<Self>

Set the bounds of the configuration space

pub fn find_path( &mut self, start: ArrayView1<'_, f64>, goal: ArrayView1<'_, f64>, goal_threshold: f64, ) -> SpatialResult<Option<Path<Array1<f64>>>>

Find the path from start to goal using RRT

Trait Implementations

impl Clone for RRTPlanner

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RRTPlanner

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

Formats the value using the given formatter.