Navigation/com.amarcolini.joos.util/CircularGVF

CircularGVF

class CircularGVF(val center: Vector2d, val radius: Double, val kN: Double, val errorMapFunc: (Double) -> Double = { it }) : GuidingVectorField

Constructors

constructor(center: Vector2d, radius: Double, kN: Double, errorMapFunc: (Double) -> Double = { it })

Properties

val center: Vector2d

open override val endPosition: Vector2d? = null

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

open override val errorMapFunc: (Double) -> Double

Custom error mapping (see eq. (4))

open override val kN: Double

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

val radius: Double

open override val startPosition: Vector2d? = null

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

Functions

open override fun internalGet(query: GuidingVectorField.Query): GuidingVectorField.Query.Phi