Class avoidance_force

Defined in File avoidance_force.hpp

Inheritance Relationships

Base Type

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

Class Documentation

class avoidance_force : public cosm::apf2D::base_force 

A force pushing the robot away from perceived obstacles. Only active when threatening obstacles are detected.

Public Functions

explicit avoidance_force(const config::avoidance_force_config *config)

rmath::vector2d operator()(const boid&, const rmath::vector2d &closest) const

Calculate the avoidance force that should be applied to the robot. Avoidance force will point from the robot away from the cloest obstacle.

Parameters:: closest – The closest known obstacle to the robot.