Class base_force

• Defined in File base_force.hpp

Inheritance Relationships

Derived Types

• public cosm::apf2D::flocking::constant_speed_force (Class constant_speed_force)

• public cosm::apf2D::nav::arrival_force (Class arrival_force)

• public cosm::apf2D::nav::avoidance_force (Class avoidance_force)

• public cosm::apf2D::nav::path_following_force (Class path_following_force)

• public cosm::apf2D::nav::phototaxis_force (Class phototaxis_force)

• public cosm::apf2D::nav::polar_force (Class polar_force)

• public cosm::apf2D::nav::seek_force (Class seek_force)

• private cosm::apf2D::nav::wander_force (Class wander_force)

Class Documentation

class base_force

Contains common functionality for all virtual forces.

Subclassed by cosm::apf2D::flocking::constant_speed_force, cosm::apf2D::nav::arrival_force, cosm::apf2D::nav::avoidance_force, cosm::apf2D::nav::path_following_force, cosm::apf2D::nav::phototaxis_force, cosm::apf2D::nav::polar_force, cosm::apf2D::nav::seek_force, cosm::apf2D::nav::wander_force

Public Functions

base_force(base_force&&) = delete

base_force(const base_force&) = delete

base_force(void) = default

virtual ~base_force(void) = default

base_force &operator=(base_force&&) = delete

base_force &operator=(const base_force&) = delete

Public Static Functions

static rmath::vector2d make_vel_floor(rmath::vector2d vel)

Modify velocity odometry to pe positive definition.

In order to have the some forces work properly, we need to have a velocity with a non-zero length and the correct heading angle at all times. So we report that we have velocity even though we do not, for the purposes of making those calculations work.

There probably is a better way to do this, but I don’t know what it is.