com.acmerobotics.roadrunner.util

Class GuidingVectorField.GVFResult

com.acmerobotics.roadrunner.util.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
Vector2d	component1() normalized direction vector of the GVF
Vector2d	component2() point on the path from the projection
double	component3() displacement along the path of
double	component4() signed cross track error
GuidingVectorField.GVFResult	copy(Vector2d vector, Vector2d pathPoint, double displacement, double error) Container for the direction of the GVF and intermediate values used in its computation.
boolean	equals(java.lang.Object p)
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
int	hashCode()
java.lang.String	toString()

Constructor Detail

GVFResult

public GVFResult(@NotNull
                 Vector2d vector,
                 @NotNull
                 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)

Method Detail

getVector

@NotNull
public Vector2d getVector()

normalized direction vector of the GVF

getPathPoint

@NotNull
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)

component1

@NotNull
public Vector2d component1()

normalized direction vector of the GVF

component2

@NotNull
public Vector2d component2()

point on the path from the projection

component3

public double component3()

displacement along the path of

pathPoint

component4

public double component4()

signed cross track error

(distance between pathPoint and the query point)

copy

@NotNull
public GuidingVectorField.GVFResult copy(@NotNull
                                                  Vector2d vector,
                                                  @NotNull
                                                  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)

toString

@NotNull
public java.lang.String toString()

hashCode

public int hashCode()

equals

public boolean equals(@Nullable
                      java.lang.Object p)