Struct RRTPlanner

pub struct RRTPlanner {
    pub step_size_joint_space: f64,
    pub max_try: usize,
    pub debug: bool,
}

Defines the RRT planner that relocates the robot between the two positions in a collision free way.

Fields

step_size_joint_space: f64

Step size in the joint space (value in Radians). This should be small enough to prevent robot colliding with something while moving in possibly less predictable way between the joints.

max_try: usize

The “max try” parameter of RRT algorithm, reasonable values are in order 1000 … 4000

debug: bool

Flag to print extra diagnostics if required.

Implementations

impl RRTPlanner

pub fn plan_rrt( &self, start: &Joints, goal: &Joints, kinematics: &KinematicsWithShape, stop: &AtomicBool, ) -> Result<Vec<Joints>, String>

Plans collision - free relocation from ‘start’ into ‘goal’, using provided instance of KinematicsWithShape for both inverse kinematics and collision avoidance.

Trait Implementations

impl Debug for RRTPlanner

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

Formats the value using the given formatter.

impl Default for RRTPlanner

fn default() -> Self

Returns the “default value” for a type.