public class GuidingVectorField
Guiding vector field for effective path following described in section III, eq. (9) of 1610.04391.pdf. Implementation note: 2D parametric curves are used to describe paths instead of implicit curves of the form f(x,y) = 0 as described in the paper (which dramatically affects the cross track error calculation).
Modifier and Type | Class and Description |
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static class |
GuidingVectorField.GVFResult
Container for the direction of the GVF and intermediate values used in its computation.
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Constructor and Description |
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GuidingVectorField(Path path,
double kN,
kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc)
Guiding vector field for effective path following described in section III, eq. (9) of
1610.04391.pdf. Implementation note: 2D parametric curves are used to
describe paths instead of implicit curves of the form f(x,y) = 0 as described in the paper (which dramatically
affects the cross track error calculation).
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Modifier and Type | Method and Description |
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Vector2d |
get(double x,
double y)
Returns the normalized value of the vector field at the given point.
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GuidingVectorField.GVFResult |
getExtended(double x,
double y,
double projectGuess)
Returns the normalized value of the vector field at the given point along with useful intermediate computations.
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public GuidingVectorField(Path path, double kN, kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc)
Guiding vector field for effective path following described in section III, eq. (9) of 1610.04391.pdf. Implementation note: 2D parametric curves are used to describe paths instead of implicit curves of the form f(x,y) = 0 as described in the paper (which dramatically affects the cross track error calculation).
path
- path to follow (interpolator is ignored)kN
- path normal weight (see eq. (9))errorMapFunc
- custom error mapping (see eq. (4))path
- path to follow (interpolator is ignored)kN
- path normal weight (see eq. (9))errorMapFunc
- custom error mapping (see eq. (4))public GuidingVectorField.GVFResult getExtended(double x, double y, double projectGuess)
Returns the normalized value of the vector field at the given point along with useful intermediate computations.
public Vector2d get(double x, double y)
Returns the normalized value of the vector field at the given point.