wbc::RadialPotentialField Class Reference

Radial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field: More...

#include <RadialPotentialField.hpp>

Inheritance diagram for wbc::RadialPotentialField:

Public Member Functions
	RadialPotentialField (const uint _dimension, const std::string &_name="")
virtual	~RadialPotentialField ()
virtual const Eigen::VectorXd &	update (const Eigen::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 ()

Additional Inherited Members
Public Attributes inherited from wbc::PotentialField
uint	dimension
double	influence_distance
Eigen::VectorXd	distance
Eigen::VectorXd	pot_field_center
Eigen::VectorXd	gradient
const std::string	name

Detailed Description

Radial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field:

grad = (x - x0) / ||d||^{2}, ||d|| <= dMax = 0 , else

with: d = x - x0 = Distance to field dMax = Maximum Influence distance x = current position x0 = Potential field center

Constructor & Destructor Documentation

RadialPotentialField()

RadialPotentialField::RadialPotentialField	(	const uint	_dimension,
		const std::string &	_name = "" )

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

~RadialPotentialField()

virtual wbc::RadialPotentialField::~RadialPotentialField ( )

inlinevirtual

Member Function Documentation

update()

const Eigen::VectorXd & RadialPotentialField::update ( const Eigen::VectorXd & position )

virtual

Compute control update according to potential field equation.

Returns

Computed gradient. Size will be same as dimension.

Implements wbc::PotentialField.

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

• src/controllers/RadialPotentialField.hpp
• src/controllers/RadialPotentialField.cpp