Navigation/com.amarcolini.joos.util/GuidingVectorField

GuidingVectorField

public interface GuidingVectorField implements VectorField

Guiding vector field for effective path following described in section III, eq. (9) of 1610.04391.pdf. Implementation note: the function phi (see eq. (2)) and its properties are split up into Phi.target and Phi.tangent.

Inheritors

Types

Query

public final class Query

Functions

compute

public Vector2d compute(GuidingVectorField.Query.Phi phi)

get

public Vector2d get(Double x, Double y)

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

getEndPosition

public abstract Vector2d getEndPosition()

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

getErrorMapFunc

public abstract Function1<Double, Double> getErrorMapFunc()

Custom error mapping (see eq. (4))

getKN

public abstract Double getKN()

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

getStartPosition

public abstract Vector2d getStartPosition()

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

internalGet

public abstract GuidingVectorField.Query.Phi internalGet(GuidingVectorField.Query query)