Package org.team1126.lib.math

Class PAPFController.CircleObstacle

java.lang.Object
org.team1126.lib.math.PAPFController.Obstacle
org.team1126.lib.math.PAPFController.CircleObstacle
Enclosing class:
PAPFController
public static final class PAPFController.CircleObstacle extends PAPFController.Obstacle
A circle with a specified radius.

  • Constructor Summary

    Constructors
    Constructor
    Description
    CircleObstacle(edu.wpi.first.math.geometry.Translation2d location, double radius, double strength, double range)
    Creates a circle obstacle.
    CircleObstacle(edu.wpi.first.math.geometry.Translation2d location, double radius, double strength, double range, PAPFController.ForceHeuristic heuristic)
    Creates a circle obstacle.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    applyForce(double x, double y, org.team1126.lib.math.PAPFController.NetForce netForce)
    Applies the force generated by the obstacle to the provided accumulator, based on the robot's current position and goal.

    Methods inherited from class org.team1126.lib.math.PAPFController.Obstacle

    getForceMagnitude

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • CircleObstacle

      public CircleObstacle(edu.wpi.first.math.geometry.Translation2d location, double radius, double strength, double range)
      Creates a circle obstacle.
      Parameters:
      location - The location of the circle's center.
      radius - The radius of the circle.
      strength - The strength of the obstacle's force. Positive values represent a repulsive potential (pushes away), negative values represent an attractive potential (pulls towards).
      range - The range of the obstacle's potential, in meters.

    • CircleObstacle

      public CircleObstacle(edu.wpi.first.math.geometry.Translation2d location, double radius, double strength, double range, PAPFController.ForceHeuristic heuristic)
      Creates a circle obstacle.
      Parameters:
      location - The location of the circle's center.
      radius - The radius of the circle.
      strength - The strength of the obstacle's force. Positive values represent a repulsive potential (pushes away), negative values represent an attractive potential (pulls towards).
      range - The range of the obstacle's potential, in meters.
      heuristic - A heuristic for transforming the obstacle's force profile.

  • Method Details

    • applyForce

      public void applyForce(double x, double y, org.team1126.lib.math.PAPFController.NetForce netForce)
      Description copied from class: PAPFController.Obstacle
      Applies the force generated by the obstacle to the provided accumulator, based on the robot's current position and goal.
      Specified by:
      applyForce in class PAPFController.Obstacle
      Parameters:
      x - The robot's current X position on the field.
      y - The robot's current Y position on the field.
      netForce - The force accumulator to apply the force to.