fn compute_path<PS: planner::ProblemSpace>(
    ps: &PS,
    start: PS::State,
    goal: PS::State,
    data: &mut collections::HashMap<PS::State, util::StateData>,
    open: &mut collections::BinaryHeap<util::HeapEntry<PS::State>>,
    closed: &mut Vec<PS::State>,
    incons: &mut Vec<PS::State>,
    eps: f64,
) {
    while (!open.is_empty())
        && ((open.peek().unwrap().keys < key(&data[&start], ps.heuristic(&start, &start), eps))
            || (data[&start].rhs as i64 != data[&start].g as i64))
    {
        let s: util::HeapEntry<PS::State> = open.pop().unwrap();
        if data[&s.state].g > data[&s.state].rhs {
            data.get_mut(&s.state).unwrap().g = data[&s.state].rhs;
            closed.push(s.state);
        } else {
            data.get_mut(&s.state).unwrap().g = f64::INFINITY;
            update_state(ps, s.state, start, goal, data, open, closed, incons, eps);
        }
        for (s_dash, _) in ps.pred(&s.state) {
            update_state(ps, s_dash, start, goal, data, open, closed, incons, eps);
        }
    }
}
/// Compute or improve the path between start & goal.
Compute or improve the path between start & goal.
Compute or improve the path between start & goal .
fn compute_path<PS: planner::ProblemSpace>(
    ps: &PS,
    start: PS::State,
    goal: PS::State,
    data: &mut collections::HashMap<PS::State, util::StateData>,
    open: &mut collections::BinaryHeap<util::HeapEntry<PS::State>>,
    closed: &mut Vec<PS::State>,
    incons: &mut Vec<PS::State>,
    eps: f64,
) {
    while (!open.is_empty())
        && ((open.peek().unwrap().keys < key(&data[&start], ps.heuristic(&start, &start), eps))
            || (data[&start].rhs as i64 != data[&start].g as i64))
    {
        let s: util::HeapEntry<PS::State> = open.pop().unwrap();
        if data[&s.state].g > data[&s.state].rhs {
            data.get_mut(&s.state).unwrap().g = data[&s.state].rhs;
            closed.push(s.state);
        } else {
            data.get_mut(&s.state).unwrap().g = f64::INFINITY;
            update_state(ps, s.state, start, goal, data, open, closed, incons, eps);
        }
        for (s_dash, _) in ps.pred(&s.state) {
            update_state(ps, s_dash, start, goal, data, open, closed, incons, eps);
        }
    }
}
fn compute_path < PS : planner :: ProblemSpace > ( ps : & PS , start : PS :: State , goal : PS :: State , data : & mut collections :: HashMap < PS :: State , util :: StateData > , open : & mut collections :: BinaryHeap < util :: HeapEntry < PS :: State > > , closed : & mut Vec < PS :: State > , incons : & mut Vec < PS :: State > , eps : f64 , ) { while ( ! open . is_empty ( ) ) && ( ( open . peek ( ) . unwrap ( ) . keys < key ( & data [ & start ] , ps . heuristic ( & start , & start ) , eps ) ) || ( data [ & start ] . rhs as i64 != data [ & start ] . g as i64 ) ) { let s : util :: HeapEntry < PS :: State > = open . pop ( ) . unwrap ( ) ; if data [ & s . state ] . g > data [ & s . state ] . rhs { data . get_mut ( & s . state ) . unwrap ( ) . g = data [ & s . state ] . rhs ; closed . push ( s . state ) ; } else { data . get_mut ( & s . state ) . unwrap ( ) . g = f64 :: INFINITY ; update_state ( ps , s . state , start , goal , data , open , closed , incons , eps ) ; } for ( s_dash , _ ) in ps . pred ( & s . state ) { update_state ( ps , s_dash , start , goal , data , open , closed , incons , eps ) ; } } }
Compute or improve the path between start & goal.
Compute or improve the path between start & goal .
ps
&PS
start
PS::State
goal
PS::State
data
&mut collections::HashMap<PS::State, util::StateData>
open
&mut collections::BinaryHeap<util::HeapEntry<PS::State>>
closed
&mut Vec<PS::State>
incons
&mut Vec<PS::State>
eps
f64
ps
&PS
start
PS::State
goal
PS::State
data
&mut collections::HashMap<PS::State, util::StateData>
open
&mut collections::BinaryHeap<util::HeapEntry<PS::State>>
closed
&mut Vec<PS::State>
incons
&mut Vec<PS::State>
eps
f64