navlib::FSDWController Class Reference

Path following obstacle avoidance controller. More...

#include <fsdwController.h>

Inheritance diagram for navlib::FSDWController:

List of all members.

Public Member Functions

FSDWController (Shape *body, double minFwdVel, double maxFwdVel, double maxTTC, double k1=1.0, double kd=1.0, double alpha=1.0, double beta=0.1, double gamma=1.0, double delta=0.01, size_t numCurves=51)

Velocity getAction (Pose pose, Path *path, double dt, std::vector< Point > obstacles)

Detailed Description

Path following obstacle avoidance controller.

The algorithm samples a set of arced trajectories and chooses the one that maximizes a value function.

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

controller/fsdwController.h
controller/fsdwController.cpp


Public Member Functions
	FSDWController (Shape *body, double minFwdVel, double maxFwdVel, double maxTTC, double k1=1.0, double kd=1.0, double alpha=1.0, double beta=0.1, double gamma=1.0, double delta=0.01, size_t numCurves=51)
Velocity	getAction (Pose pose, Path *path, double dt, std::vector< Point > obstacles)