Base class for potential fields. More...

#include <PotentialField.hpp>

Inheritance diagram for wbc::PotentialField:

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

virtual	~PotentialField ()

virtual const Eigen::VectorXd &	update (const Eigen::VectorXd &position)=0
	Implement in derived class. Compute control update according to potential field equation.

Public Attributes
uint	dimension

double	influence_distance

Eigen::VectorXd	distance

Eigen::VectorXd	pot_field_center

Eigen::VectorXd	gradient

const std::string	name

Detailed Description

Base class for potential fields.

Constructor & Destructor Documentation

◆ PotentialField()

wbc::PotentialField::PotentialField	(	const uint	_dimension,
		const std::string &	_name = "unset" )

inline

Init all members. Dimension of the field. Has to be > 0. e.g. a field in Cartesian space would have dimension 3.

◆ ~PotentialField()

virtual wbc::PotentialField::~PotentialField ( )

inlinevirtual

Member Function Documentation

◆ update()

virtual const Eigen::VectorXd & wbc::PotentialField::update ( const Eigen::VectorXd & position )

pure virtual

Implement in derived class. Compute control update according to potential field equation.

Returns: Computed gradient. Size will be same as dimension

Implemented in wbc::PlanarPotentialField, and wbc::RadialPotentialField.

Member Data Documentation

◆ dimension

uint wbc::PotentialField::dimension

Dimension of the potential field, e.g. a potential field in 3d space would have size 3.

◆ distance

Eigen::VectorXd wbc::PotentialField::distance

Distance vector to the potential field.

◆ gradient

Eigen::VectorXd wbc::PotentialField::gradient

Gradient for this field

◆ influence_distance

double wbc::PotentialField::influence_distance

Maximum influence distance of the field. Default will be inf

◆ name

const std::string wbc::PotentialField::name

ID of the potential field

◆ pot_field_center

Eigen::VectorXd wbc::PotentialField::pot_field_center

Potential field center position

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

src/controllers/PotentialField.hpp

Public Member Functions

Public Attributes