Cargo Features
sample_planning has no features set by default.
[dependencies]
sample_planning = { version = "0.0.4", features = ["motion_primitives", "runge_kutta", "mo_prim_thresh_low", "mo_prim_thresh_high", "nn_sample_log", "nn_naive", "disable_witness_disturbance", "state_propagate_sample", "batch_propagate_sample", "path_optimize", "gen_obs_3d", "airplane"] }- motion_primitives
-
Affects
sst::SST.mo_prim,sst::SST.stat_motion_prim_invoked… - runge_kutta
-
defaults to Euler stepping for propagation
- disable_pruning mo_prim_debug mo_prim_thresh_low
- mo_prim_thresh_high
- nn_sample_log
-
use proportional to log(# nodes) for nearest neighbour query, defaults to sqrt(# nodes)
- nn_naive
-
use linear nearest neighbour query
Affects
sst::SST.nn_query_brute… - disable_witness_disturbance
-
default is active for witness discovery rate of < 10% of recent iterations
- state_propagate_sample
-
frontier node selection, 10 samples, 50%
- batch_propagate_sample
-
control propagation selection, 10 samples, 50%, applicable if nn_naive is NOT enabled
- path_optimize
-
use importance sampling for optimization
- gen_obs_3d
-
use for random box obstacle generation
- airplane
-
temporary workaround; use this for Dubins airplane model