Package org.team1126.lib.math

Class PAPFController.PointObstacle

java.lang.Object

org.team1126.lib.math.PAPFController.Obstacle

org.team1126.lib.math.PAPFController.PointObstacle

Enclosing class:

PAPFController

public static final class PAPFController.PointObstacle
extends PAPFController.Obstacle

A simple point obstacle. Applies a force from the specified field location.

Constructor Summary

Constructors

Constructor	Description
PointObstacle(edu.wpi.first.math.geometry.Translation2d location, double strength, double range)	Creates a point obstacle.
PointObstacle(edu.wpi.first.math.geometry.Translation2d location, double strength, double range, PAPFController.ForceHeuristic heuristic)	Creates a point 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

PointObstacle

public PointObstacle(edu.wpi.first.math.geometry.Translation2d location,
 double strength,
 double range)

Creates a point obstacle.

Parameters:

location - The point's location on the field.

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.

PointObstacle

public PointObstacle(edu.wpi.first.math.geometry.Translation2d location,
 double strength,
 double range,
 PAPFController.ForceHeuristic heuristic)

Creates a point obstacle.

Parameters:

location - The point's location on the field.

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.