Navigation/com.amarcolini.joos.util/GVFObstacle

GVFObstacle

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

An obstacle vector field (\(\mathcal{X}_{\mathcal{R}_i}\) eq. 4) as described in this paper.

gvf should be a closed loop, and the tangent (in Phi.tangent) should point counterclockwise by default.

Note: For both map functions, an input of 0 means the query point is fully outside \(\mathcal{R}_i\), and an input of 1 means the query point is fully inside \(\mathcal{Q}_i\).

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.

Constructors

GVFObstacle

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