Package org.team1126.lib.math

Class PAPFController.LateralObstacle

java.lang.Object

org.team1126.lib.math.PAPFController.Obstacle

org.team1126.lib.math.PAPFController.LateralObstacle

Enclosing class:

PAPFController

public static final class PAPFController.LateralObstacle
extends PAPFController.Obstacle

An infinite line that pushes parallel to the Y axis, to constrain left/right field-relative movement.

Constructor Summary

Constructors

Constructor	Description
LateralObstacle(double y, double strength, double range)	Creates a lateral obstacle.
LateralObstacle(double y, double strength, double range, PAPFController.ForceHeuristic heuristic)	Creates a lateral 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

LateralObstacle

public LateralObstacle(double y,
 double strength,
 double range)

Creates a lateral obstacle.

Parameters:

y - The Y coordinate of the line.

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.

LateralObstacle

public LateralObstacle(double y,
 double strength,
 double range,
 PAPFController.ForceHeuristic heuristic)

Creates a lateral obstacle.

Parameters:

y - The Y coordinate of the line.

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.