com.acmerobotics.roadrunner.followers

Class GuidingVectorField.GVFResult

com.acmerobotics.roadrunner.followers.GuidingVectorField.GVFResult

Enclosing class:

GuidingVectorField

public static class GuidingVectorField.GVFResult

Container for the direction of the GVF and intermediate values used in its computation.

Constructor Summary

Constructors

Constructor and Description
GVFResult(Vector2d vector, Vector2d pathPoint, double displacement, double error) Container for the direction of the GVF and intermediate values used in its computation.

Method Summary

Modifier and Type	Method and Description
double	getDisplacement() displacement along the path of
double	getError() signed cross track error
Vector2d	getPathPoint() point on the path from the projection
Vector2d	getVector() normalized direction vector of the GVF

Constructor Detail

GVFResult

public GVFResult(Vector2d vector,
                 Vector2d pathPoint,
                 double displacement,
                 double error)

Container for the direction of the GVF and intermediate values used in its computation.

Parameters:

vector - normalized direction vector of the GVF

pathPoint - point on the path from the projection

displacement - displacement along the path of pathPoint

error - signed cross track error (distance between pathPoint and the query point)

vector - normalized direction vector of the GVF

pathPoint - point on the path from the projection

displacement - displacement along the path of pathPoint

error - signed cross track error (distance between pathPoint and the query point)

Method Detail

getVector

public Vector2d getVector()

normalized direction vector of the GVF

getPathPoint

public Vector2d getPathPoint()

point on the path from the projection

getDisplacement

public double getDisplacement()

displacement along the path of

pathPoint

getError

public double getError()

signed cross track error

(distance between pathPoint and the query point)