CompositeGVF

class CompositeGVF(val pathGVF: PathGVF, val obstacles: Iterable<GVFObstacle>, val correctionRadius: Double = 5.0) : FollowableGVF

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

correctionRadius

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

Constructors

constructor(pathGVF: PathGVF, vararg obstacles: GVFObstacle)

constructor(pathGVF: PathGVF, obstacles: Iterable<GVFObstacle>, correctionRadius: Double = 5.0)

open override val path: Path

open operator override fun get(x: Double, y: Double): Vector2d

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

open override fun reset()

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