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).
path - path to follow (interpolator is ignored)
kN - path normal weight (see eq. (9))
errorMapFunc - custom error mapping (see eq. (4))
data class GVFResult
Container for the direction of the GVF and intermediate values used in its computation. |
GuidingVectorField(path: Path, kN: Double, errorMapFunc: (Double) -> Double = { it })
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). |
operator fun get(x: Double, y: Double): Vector2d
Returns the normalized value of the vector field at the given point. |
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fun getExtended(x: Double, y: Double, projectGuess: Double = path.length() / 2.0): GuidingVectorField.GVFResult
Returns the normalized value of the vector field at the given point along with useful intermediate computations. |