PathGVF

An implementation of GuidingVectorField that follows the specified path.

Constructors

public PathGVF PathGVF(Path path, Double kN, Function1<Double, Double> errorMapFunc)

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 Path path

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.

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

public Unit reset()

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