Struct GridAStarPlanner 

pub struct GridAStarPlanner {
    pub grid: Vec<Vec<bool>>,
    pub diagonalsallowed: bool,
}

Grid-based A* planner for 2D grids with obstacles

Fields

grid: Vec<Vec<bool>>

diagonalsallowed: bool

Implementations

impl GridAStarPlanner

pub fn new(grid: Vec<Vec<bool>>, diagonalsallowed: bool) -> Self

Create a new grid-based A* planner

Arguments

• grid - 2D grid where true represents an obstacle
• diagonalsallowed - Whether diagonal movements are allowed

pub fn height(&self) -> usize

Get the height of the grid

pub fn width(&self) -> usize

Get the width of the grid

pub fn is_valid(&self, pos: &[i32; 2]) -> bool

Check if a position is valid and not an obstacle

pub fn find_path( &self, start: [i32; 2], goal: [i32; 2], ) -> SpatialResult<Option<Path<[i32; 2]>>>

Find a path from start to goal using A* search

Trait Implementations

impl Clone for GridAStarPlanner

fn clone(&self) -> GridAStarPlanner

Returns a duplicate of the value.

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

Performs copy-assignment from source.