core/com.asiankoala.koawalib.path.gvf/SimpleGVFController

SimpleGVFController

class SimpleGVFController( val path: Path, val drive: KMecanumOdoDrive, kN: Double, kOmega: Double, kF: Double, kS: Double, epsilon: Double, thetaEpsilon: Double, errorMap: (Double) -> Double = { it }) : GVFController

Guided Vector Field follower

Parameters

path

path

kN

normal path attraction

kOmega

heading weight

kF

end param weight

kS

raw scalar on translational power

epsilon

allowed absolute and projected error

errorMap

error map to transform normal displacement error

Constructors

SimpleGVFController

fun SimpleGVFController( path: Path, drive: KMecanumOdoDrive, kN: Double, kOmega: Double, kF: Double, kS: Double, epsilon: Double, thetaEpsilon: Double, errorMap: (Double) -> Double = { it })

Properties

open override val drive: KMecanumOdoDrive

open override val isFinished: Boolean

path finish state

open override val path: Path

open override var s: Double = 0.0

Functions

open override fun update()