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 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 com.acmerobotics.roadrunner.util.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)