Navigation/com.amarcolini.joos.util/GuidingVectorField

GuidingVectorField

interface GuidingVectorField : VectorField

Guiding vector field for effective path following described in section III, eq. (9) of 1610.04391.pdf. Implementation note: the function phi (see eq. (2)) and its properties are split up into Phi.target and Phi.tangent.

Inheritors

Types

Query

class Query

Properties

endPosition

abstract val endPosition: Vector2d?

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

errorMapFunc

abstract val errorMapFunc: (Double) -> Double

Custom error mapping (see eq. (4))

abstract val kN: Double

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

startPosition

abstract val startPosition: Vector2d?

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

Functions

compute

open fun compute(phi: GuidingVectorField.Query.Phi): Vector2d

get

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

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

internalGet

abstract fun internalGet(query: GuidingVectorField.Query): GuidingVectorField.Query.Phi