GVFObstacle
public GVFObstacle GVFObstacle(GuidingVectorField gvf, Double insetDistance, Function1<Double, Double> zeroInMapFunc, Function1<Double, Double> zeroOutMapFunc)
Parameters
insetDistance
The distance to inset \(\mathcal{R}_i\) to define \(\mathcal{Q}_i\). This makes the smooth bump functions much easier to implement.
zeroInMapFunc
a smooth function with domain [0, 1] and range [0, 1]. An output of 1 means fully weighting the path vector. Inputs of 0 and 1 should give outputs of 0 and 1, respectively.
zeroOutMapFunc
a smooth function with domain [0, 1] and range [0, 1]. An output of 1 means fully weighting the obstacle vector. Inputs of 0 and 1 should give outputs of 0 and 1,
respectively.