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

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 com.acmerobotics.roadrunner.util.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.