#include <ObsAvoiAlgoPFM.h>
Public Member Functions | |
ObsAvoiAlgoParPFM () | |
null constructor | |
ObsAvoiAlgoParPFM (Decimal KvP, Decimal KwP, Decimal KweP, Decimal outOfAxisDistP, Decimal repDistP, Decimal vortDistP, Decimal KrP, Decimal KrvP) | |
constructor | |
ObsAvoiAlgoParPFM (const ObsAvoiAlgoParPFM &A) | |
copy constructor | |
ObsAvoiAlgoParPFM | operator= (ObsAvoiAlgoParPFM A) |
compound operator = | |
Public Attributes | |
Decimal | Kv |
linear error gain | |
Decimal | Kw |
angular error gain | |
Decimal | Kwe |
linear and angular error gain | |
Decimal | outOfAxisDist |
distance of a projection point from the wheel axis | |
Decimal | repDist |
radius of the repulsive field | |
Decimal | vortDist |
radius of the vortex field | |
Decimal | Kr |
repulsive gain | |
Decimal | Krv |
vortex gain |
MipAlgorithms::ObsAvoiAlgoParPFM::ObsAvoiAlgoParPFM | ( | ) | [inline] |
null constructor
MipAlgorithms::ObsAvoiAlgoParPFM::ObsAvoiAlgoParPFM | ( | Decimal | KvP, | |
Decimal | KwP, | |||
Decimal | KweP, | |||
Decimal | outOfAxisDistP, | |||
Decimal | repDistP, | |||
Decimal | vortDistP, | |||
Decimal | KrP, | |||
Decimal | KrvP | |||
) | [inline] |
constructor
[in] | KvP | linear error gain |
[in] | KwP | angular error gain |
[in] | KweP | linear and angular error gain |
[in] | outOfAxisDistP | distance of a projection point from the wheel axis |
[in] | radius | of the repulsive field |
[in] | radius | of the vortex field |
[in] | repulsive | gain |
[in] | vortex | gain |
MipAlgorithms::ObsAvoiAlgoParPFM::ObsAvoiAlgoParPFM | ( | const ObsAvoiAlgoParPFM & | A | ) | [inline] |
copy constructor
ObsAvoiAlgoParPFM MipAlgorithms::ObsAvoiAlgoParPFM::operator= | ( | ObsAvoiAlgoParPFM | A | ) | [inline] |
compound operator =
linear error gain
angular error gain
linear and angular error gain
distance of a projection point from the wheel axis
radius of the repulsive field
radius of the vortex field
repulsive gain
vortex gain