Struct CuJointRrtStarParams 

pub struct CuJointRrtStarParams {
    pub step_size: f64,
    pub goal_bias: f64,
    pub goal_threshold: f64,
    pub rewire_radius: f64,
    pub collision_check_step: CuJointResolution,
    pub max_nodes: u32,
    pub metric: CuJointMetric,
}

Parameters of CuJointRrtStar.

Fields

step_size: f64

Maximum joint-space step per extension (dimensionless, metric-scaled).

goal_bias: f64

Probability in [0.0, 1.0] of sampling the exact goal configuration (dimensionless).

goal_threshold: f64

Joint-space distance within which a node can connect directly to the goal (dimensionless, metric-scaled).

rewire_radius: f64

Neighbourhood rewiring radius (dimensionless, metric-scaled).

collision_check_step: CuJointResolution

Angular/linear resolution for discrete edge collision sampling.

max_nodes: u32

Maximum active tree nodes (>= 2; capped at RRT_STAR_MAX_NODES).

metric: CuJointMetric

Scaling of dimensionless joint-space distances and costs.

Implementations

impl CuJointRrtStarParams

pub fn validate(&self) -> CuResult<()>

Checks every parameter, the metric, and the collision-check resolution.

Trait Implementations

impl<'__de, __Context> BorrowDecode<'__de, __Context> for CuJointRrtStarParams

fn borrow_decode<__D: BorrowDecoder<'__de, Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl Clone for CuJointRrtStarParams

fn clone(&self) -> CuJointRrtStarParams

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuJointRrtStarParams

impl Debug for CuJointRrtStarParams

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuJointRrtStarParams

fn decode<__D: Decoder<Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

impl Default for CuJointRrtStarParams

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuJointRrtStarParams

where CuJointRrtStarParams: Default,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuJointRrtStarParams

fn encode<__E: Encoder>(&self, encoder: &mut __E) -> Result<(), EncodeError>

Encode a given type.

impl PartialEq for CuJointRrtStarParams

fn eq(&self, other: &CuJointRrtStarParams) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for CuJointRrtStarParams

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CuJointRrtStarParams

impl TypePath for CuJointRrtStarParams

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>