PathGVF

class PathGVF(val path: Path, val kN: Double, val errorMapFunc: (Double) -> Double = { it }) : GuidingVectorField, FollowableGVF

An implementation of GuidingVectorField that follows the specified path.

Constructors

constructor(path: Path, kN: Double, errorMapFunc: (Double) -> Double = { it })

open override val endPosition: Vector2d

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.

open override val path: Path

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

open override fun reset()

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