Class arrival_force

Inheritance Relationships

Base Types

  • public rer::client< arrival_force >

  • public cosm::apf2D::base_force (Class base_force)

Class Documentation

class arrival_force : public rer::client<arrival_force>, public cosm::apf2D::base_force

A force pulling the robot to a target (i.e. the robot DOES slow down to “arrive”). Once the robot comes within range of the slowing radius, its speed is ramped down linearly from its current speed to the specified minimal slowing speed.

Public Functions

explicit arrival_force(const config::arrival_force_config *config)
rmath::vector2d operator()(const boid &entity, const rmath::vector2d &target)
inline bool within_slowing_radius(void) const