Package org.team1126.lib.math

Class PAPFController.Obstacle

java.lang.Object
org.team1126.lib.math.PAPFController.Obstacle
Direct Known Subclasses:
PAPFController.CircleObstacle, PAPFController.LateralObstacle, PAPFController.LineObstacle, PAPFController.LongitudinalObstacle, PAPFController.PointObstacle
Enclosing class:
PAPFController
public abstract static class PAPFController.Obstacle extends Object
A generic obstacle.

  • Constructor Summary

    Constructors
    Constructor
    Description
    Obstacle(double strength, double range)
    Creates an obstacle.
    Obstacle(double strength, double range, PAPFController.ForceHeuristic heuristic)
    Creates an obstacle.

  • Method Summary

    Modifier and Type
    Method
    Description
    abstract 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.
    protected final double
    getForceMagnitude(double dist)
    Converts a distance from the obstacle to the strength of the force.

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • Obstacle

      public Obstacle(double strength, double range)
      Creates an obstacle.
      Parameters:
      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.

    • Obstacle

      public Obstacle(double strength, double range, PAPFController.ForceHeuristic heuristic)
      Creates an obstacle.
      Parameters:
      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 abstract 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.
      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.

    • getForceMagnitude

      protected final double getForceMagnitude(double dist)
      Converts a distance from the obstacle to the strength of the force.
      Parameters:
      dist - The distance from the obstacle.