com.acmerobotics.roadrunner.util

Class GuidingVectorField

com.acmerobotics.roadrunner.util.GuidingVectorField

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).

See Also:

1610.04391.pdf

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	GuidingVectorField.GVFResult Container for the direction of the GVF and intermediate values used in its computation.

Constructor Summary

Constructors

Constructor and Description

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).

Method Summary

Modifier and Type	Method and Description
Vector2d	get(double x, double y) Returns the normalized value of the vector field at the given point.
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.

Constructor Detail

GuidingVectorField

public GuidingVectorField(@NotNull
                          Path path,
                          double kN,
                          @NotNull
                          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).

Parameters:

path - path to follow (interpolator is ignored)

kN - path normal weight (see eq. (9))

errorMapFunc - custom error mapping (see eq. (4))

See Also:

1610.04391.pdf

Method Detail

getExtended

@NotNull
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.

get

@NotNull
public Vector2d get(double x,
                             double y)

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