Jump Point Search Algorithm Implementation in Rust.
Currently no lifetime notation is used, and hence a few unnecessary copies have to be performed. Lifetime is needed to be considered for improving the speed/efficiency.
Add this to your Cargo.toml:
[dependencies]
jps = "1.1"
Two steps to use JPS:
1) create a GraphSearch using either new_v1 or new_v2
2) call plan to plan a path from start to goal.
``
/* using HashMap as the map input.
fmapcan beNone` such that a grid will be regarded as free as long as it is not occupied and is within the legal boxed-boundary. */
GraphSearch::newv1(
fmap: Option
/* using a binary map as the map input */ GraphSearch::newv2( map: &[bool], xdim: [i32; 2], ydim: [i32; 2], zdim: [i32; 2], eps: f32, // goal: (i32, i32, i32), // usejps: bool, ) -> Self
/* path-finding */ plan( &mut self, start: (i32, i32, i32), goal: (i32, i32, i32), usejps: bool, max_expand: i32, ) -> bool ```
cargo test -- --show-output
the output shows:
path is :
(0, 0, 0) ➡ (0, 1, 0)➡ (0, 2, 0)➡ (0, 3, 0)➡ (1, 4, 1)➡ (2, 4, 1)➡ (3, 4, 1)➡ (4, 3, 2)➡ (4, 2, 2)➡ (4, 1, 2)➡ (3, 0, 3)➡ (2, 1, 4)➡ (2, 2, 4)➡ (3, 3, 4)➡ (4, 4, 4)
turnings are :
(0, 0, 0) (0, 3, 0) (1, 4, 1) (3, 4, 1) (4, 3, 2) (4, 1, 2) (3, 0, 3) (2, 1, 4) (2, 2, 4) (4, 4, 4)
API changed.
xdim : i32 is replaced by xbound: [i32;2]. xbound[0] ≤ x < xbound[1] defines the x-axis grid searching space. (similar case for ydim and zdim)
Add a functional feature, namely decomp, for finding ellipsoid and decomposition.
To use this feature, in Cargo.toml add
[dependencies]
jps = { version = "1.1", features = ["decomp"] }
You need to implement trait Voxelable for voxelization and devoxelization.
Then you can init a Decomp, and decompose it to perform the decomposition.
As a simple example, check the example in the test, or type:
cargo test --release --features=decomp -- --show-output
Logic follows the C++ version (https://github.com/KumarRobotics/jps3d)
Also NOTE that some functions havn't been thoroughly tested, so please let me know if there is any error.