codetiger
4270670fc7
Replace old monolithic modules (extraction, features, integration, loop_closure, matching, vector_map, cbvg) with new streamlined architecture including grid, slam, pathfinding, submap, and io modules. Simplify core types and exploration controller.
41 lines
1.3 KiB
Rust
41 lines
1.3 KiB
Rust
//! High-level autonomous exploration API.
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//!
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//! This module provides a simple, unified API for autonomous map exploration.
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//! The `VastuExplorer` handles all the complexity of SLAM, scan matching,
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//! loop closure, and frontier-based exploration internally.
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//!
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//! # Example
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//!
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//! ```ignore
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//! use vastu_map::explore::{VastuExplorer, SensorSource, ExplorerConfig};
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//!
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//! // Implement SensorSource for your robot
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//! struct MyRobot { /* ... */ }
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//! impl SensorSource for MyRobot { /* ... */ }
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//!
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//! // Create explorer and run
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//! let config = ExplorerConfig::default();
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//! let mut explorer = VastuExplorer::new(config);
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//! let mut robot = MyRobot::new();
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//!
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//! match explorer.explore(&mut robot) {
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//! ExploreResult::Complete(map) => {
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//! // Save the completed map
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//! vastu_map::io::save_vastu(map.storage(), "map.vastu").unwrap();
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//! }
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//! ExploreResult::Failed { map, reason } => {
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//! println!("Exploration failed: {}", reason);
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//! }
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//! }
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//! ```
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mod config;
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mod explorer;
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mod source;
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mod submap_explorer;
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pub use config::ExplorerConfig;
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pub use explorer::{ExploreResult, ExploreStatus, VastuExplorer, normalize_angle};
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pub use source::SensorSource;
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pub use submap_explorer::{SubmapExplorerConfig, VastuSubmapExplorer};
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