fix: Needed constructor for PlannerConfig in JS bindings

Author: juniorsundar

oxmpl-js/src/lib.rs

@@ -310,6 +310,16 @@ pub struct JsPlannerConfig {
     seed: Option<u64>,
 }
 
+#[wasm_bindgen(js_class = PlannerConfig)]
+impl JsPlannerConfig {
+    #[wasm_bindgen(constructor)]
+    pub fn new(seed: Option<f64>) -> Self {
+        Self {
+            seed: seed.map(|s| s as u64),
+        }
+    }
+}
+
 impl From<&JsPlannerConfig> for PlannerConfig {
     fn from(js_planner_config: &JsPlannerConfig) -> Self {
         PlannerConfig {

oxmpl-js/tests/test_prm_integration.test.js

@@ -72,7 +72,8 @@ describe('PRM Integration Tests', () => {
     // CREATE AND SETUP THE PLANNER
     const timeout = 5.0;
     const connectionRadius = 0.5;
-    const planner = new oxmpl.PRM(timeout, connectionRadius);
+    const planner_config = new oxmpl.PlannerConfig(0);
+    const planner = new oxmpl.PRM(timeout, connectionRadius, planner_config);
 
     planner.setup(problemDef, validityChecker);
     planner.constructRoadmap();

oxmpl-js/tests/test_rrt_connect_integration.test.js

@@ -72,7 +72,8 @@ describe('RRT Connect Integration Tests', () => {
     // CREATE AND SETUP THE PLANNER
     const maxDistance = 0.5;
     const goalBias = 0.05;
-    const planner = new oxmpl.RRTConnect(maxDistance, goalBias);
+    const planner_config = new oxmpl.PlannerConfig(0);
+    const planner = new oxmpl.RRTConnect(maxDistance, goalBias, planner_config);
 
     planner.setup(problemDef, validityChecker);
 

oxmpl-js/tests/test_rrt_integration.test.js

@@ -72,7 +72,8 @@ describe('RRT Integration Tests', () => {
     // CREATE AND SETUP THE PLANNER
     const maxDistance = 0.5;
     const goalBias = 0.05;
-    const planner = new oxmpl.RRT(maxDistance, goalBias);
+    const planner_config = new oxmpl.PlannerConfig(0);
+    const planner = new oxmpl.RRT(maxDistance, goalBias, planner_config);
 
     planner.setup(problemDef, validityChecker);
 

oxmpl-js/tests/test_rrt_star_integration.test.js

@@ -73,7 +73,8 @@ describe('RRT* Integration Tests', () => {
     const maxDistance = 0.5;
     const goalBias = 0.05;
     const searchRadius = 0.25;
-    const planner = new oxmpl.RRTStar(maxDistance, goalBias, searchRadius);
+    const planner_config = new oxmpl.PlannerConfig(0);
+    const planner = new oxmpl.RRTStar(maxDistance, goalBias, searchRadius, planner_config);
 
     planner.setup(problemDef, validityChecker);