Struct DubinsPlanner 

pub struct DubinsPlanner { /* private fields */ }

Dubins path planner

Implementations

impl DubinsPlanner

pub fn new(_turningradius: f64) -> Self

Create a new Dubins path planner

Arguments

• turning_radius - Minimum turning radius (must be positive)

Returns

• A new DubinsPlanner instance

Examples

use scirs2_spatial::pathplanning::dubins::DubinsPlanner;

let planner = DubinsPlanner::new(1.0);

pub fn plan(&self, start: &Pose2D, goal: &Pose2D) -> SpatialResult<DubinsPath>

Plan a Dubins path between two poses

Arguments

• start - Start pose
• goal - Goal pose

Returns

• The shortest Dubins path, or an error if planning fails

Examples

use scirs2_spatial::pathplanning::dubins::{DubinsPlanner, Pose2D};

let start = Pose2D::new(0.0, 0.0, 0.0);
let goal = Pose2D::new(5.0, 5.0, std::f64::consts::PI / 2.0);
let planner = DubinsPlanner::new(1.0);

let path = planner.plan(&start, &goal).expect("Operation failed");
println!("Path length: {}", path.length());