Class path_following_force

• Defined in File path_following_force.hpp

Inheritance Relationships

Base Type

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

Class Documentation

class path_following_force : public cosm::apf2D::base_force

A force pushing the robot along a trajectory defined by a set of points in 2D.

Public Functions

explicit path_following_force(const config::path_following_force_config *config)

rmath::vector2d operator()(const boid &entity, cnav::trajectory *traj) const

Calculate the path following force that should be applied to the robot. The force will point from the robot towards the next point along the path. Once the robot has finished executing the path, the returned force will be 0.

Parameters:

• entity – The robot to calculate the force for.

• state – The current path state.