Simple
fun SimpleGVFController( path: Path, drive: KMecanumOdoDrive, kN: Double, kOmega: Double, kF: Double, kS: Double, epsilon: Double, thetaEpsilon: Double, errorMap: (Double) -> Double = { it })
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Parameters
path
path
k
normal path attraction
k
heading weight
k
end param weight
k
raw scalar on translational power
epsilon
allowed absolute and projected error
error
error map to transform normal displacement error