Package org.team1126.lib.math

Interface PAPFController.ForceHeuristic

Enclosing class:
PAPFController
Functional Interface:
This is a functional interface and can therefore be used as the assignment target for a lambda expression or method reference.
@FunctionalInterface public static interface PAPFController.ForceHeuristic
Represents a heuristic for transforming the force profile of an obstacle.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final PAPFController.ForceHeuristic
    DEFAULT
    The default heuristic.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    apply(double t)
    Applies the heuristic to a specified distance within the obstacle's range.

  • Field Details

  • Method Details

    • apply

      double apply(double t)
      Applies the heuristic to a specified distance within the obstacle's range.
      Parameters:
      t - A normalized value [0.0, 1.0] that represents the robot's distance to the obstacle as a percent of the obstacle's range. For repulsive obstacles, this value is 1.0 when the robot's distance to the obstacle is zero. For attractive obstacles, this value is 1.0 when the robot is at the edge of the obstacle's range.
      Returns:
      The transformed output from the heuristic, within the range [0.0, 1.0].