CircularGVF

public final class CircularGVF implements GuidingVectorField

Constructors

public CircularGVF CircularGVF(Vector2d center, Double radius, Double kN, Function1<Double, Double> errorMapFunc)

private final Vector2d center

The final target position. Used for basic velocity profiling to decelerate accordingly.

private final Function1<Double, Double> errorMapFunc

Custom error mapping (see eq. (4))

private final Double kN

Path normal weight (see eq. (9)). Higher values make path convergence more aggressive.

private final Double radius

The starting position. Used for basic velocity profiling to accelerate accordingly.

The final target position. Used for basic velocity profiling to decelerate accordingly.

Custom error mapping (see eq. (4))

Path normal weight (see eq. (9)). Higher values make path convergence more aggressive.

public final Double getRadius()

The starting position. Used for basic velocity profiling to accelerate accordingly.