Planar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal) More...

#include <PlanarPotentialField.hpp>

Inheritance diagram for wbc::PlanarPotentialField:

Public Member Functions
	PlanarPotentialField (const std::string &_name="")

virtual	~PlanarPotentialField ()

virtual const base::VectorXd &	update (const base::VectorXd &position)
	Compute control update according to potential field equation.

Public Member Functions inherited from wbc::PotentialField
	PotentialField (const uint _dimension, const std::string &_name="unset")

virtual	~PotentialField ()

Public Attributes
base::VectorXd	n

Public Attributes inherited from wbc::PotentialField
base::Time	time

uint	dimension

double	influence_distance

base::VectorXd	distance

base::VectorXd	pot_field_center

base::VectorXd	gradient

const std::string	name

Detailed Description

Planar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal)

grad = (||d||*n) / ||d||^{2}, ||d|| <= d_0 = 0 , else

with: d = |n*(x - x0)| / ||n|| = Distance to the plane defined by x0 and n n = Plain normal dMax = Maximum Influence distance x = current position x0 = Plain support vector field center

Constructor & Destructor Documentation

◆ PlanarPotentialField()

PlanarPotentialField::PlanarPotentialField ( const std::string & _name = "" )

Init all members. Dimension is 3!

◆ ~PlanarPotentialField()

virtual wbc::PlanarPotentialField::~PlanarPotentialField ( )

inlinevirtual

Member Function Documentation

◆ update()

const base::VectorXd & PlanarPotentialField::update ( const base::VectorXd & position )

virtual

Compute control update according to potential field equation.

Parameters

gradient Computed gradient. Will be resized if gradient.size() != dimension.

Implements wbc::PotentialField.

Member Data Documentation

◆ n

base::VectorXd wbc::PlanarPotentialField::n

Normal that defines the orientation of the plane

The documentation for this class was generated from the following files:

src/controllers/PlanarPotentialField.hpp
src/controllers/PlanarPotentialField.cpp

Public Member Functions

Public Attributes