class GuidingVectorField (source)
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))
GVFResult |
Container for the direction of the GVF and intermediate values used in its computation. data class GVFResult |
<init> |
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). GuidingVectorField(path: Path, kN: Double, errorMapFunc: (Double) -> Double = { it }) |
get |
Returns the normalized value of the vector field at the given point. operator fun get(x: Double, y: Double): Vector2d |
getExtended |
Returns the normalized value of the vector field at the given point along with useful intermediate computations. fun getExtended(x: Double, y: Double, projectGuess: Double = path.length() / 2.0): GVFResult |