Navigation/com.amarcolini.joos.util/CompositeGVF

CompositeGVF

public final class CompositeGVF implements FollowableGVF

A composite guiding vector field that avoids obstacles and follows pathGVF.

Parameters

correctionRadius

If the robot is within this distance of the end of the path, all obstacles will be ignored.

Constructors

public CompositeGVF CompositeGVF(PathGVF pathGVF, GVFObstacle obstacles)

public CompositeGVF CompositeGVF(PathGVF pathGVF, Iterable<GVFObstacle> obstacles, Double correctionRadius)

Properties

correctionRadius

private final Double correctionRadius

lastProjectDisplacement

private final Double lastProjectDisplacement

private final Iterable<GVFObstacle> obstacles

private final Path path

private final PathGVF pathGVF

Functions

public Vector2d compute(GuidingVectorField.Query.Phi phi)

public Vector2d get(Double x, Double y)

Returns the normalized value of the vector field at the given point.

getCorrectionRadius

public final Double getCorrectionRadius()

getLastProjectDisplacement

public Double getLastProjectDisplacement()

public final Iterable<GVFObstacle> getObstacles()

public Path getPath()

public final PathGVF getPathGVF()

public Unit reset()

Any resetting that needs to happen before another follower uses this vector field should go here.