GVFObstacle
constructor(gvf: GuidingVectorField, insetDistance: Double, zeroInMapFunc: (Double) -> Double = { defaultMapFunction(it) }, zeroOutMapFunc: (Double) -> Double = { defaultMapFunction(it) })
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.