Module org.arakhne.afc.advanced.agentmotion

Package org.arakhne.afc.agentmotion.kinematic

Class AligningKinematicAlgorithm

java.lang.Object

org.arakhne.afc.agentmotion.kinematic.AligningKinematicAlgorithm

All Implemented Interfaces:

Serializable, Cloneable, AligningMotionAlgorithm

public class AligningKinematicAlgorithm
extends Object
implements AligningMotionAlgorithm, Serializable, Cloneable

Agent is changing its oriented for being align to the target vector.

This algorithm uses speeds.

Since:

14.0

Version:

17.0 2020-01-04 14:41:51

Author:

Stéphane GALLAND

See Also:

Serialized Form

Maven Group Id:

org.arakhne.afc.advanced

Maven Artifact Id:

agentmotion

Field Summary

Fields

Modifier and Type	Field	Description
protected double	stopAngle	Angle to the target under which the agent could stop.

Constructor Summary

Constructors

Constructor	Description
AligningKinematicAlgorithm(double stopAngle)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	calculate(Vector2D<?,?> orientation, double angularSpeed, double maxAngularSpeed, Vector2D<?,?> target)	Calculate the rotation for being aligned to the target vector.
AligningKinematicAlgorithm	clone()	Clone this algorithm.

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

stopAngle

protected final double stopAngle

Angle to the target under which the agent could stop.

Constructor Detail

AligningKinematicAlgorithm

public AligningKinematicAlgorithm(double stopAngle)

Constructor.

Parameters:

stopAngle - the angle to the target under which the agent could stop.

Method Detail

clone

@Pure
public AligningKinematicAlgorithm clone()

Description copied from interface: AligningMotionAlgorithm

Clone this algorithm.

Specified by:

clone in interface AligningMotionAlgorithm

Overrides:

clone in class Object

Returns:

the clone.

calculate

public double calculate(Vector2D<?,?> orientation,
                        double angularSpeed,
                        double maxAngularSpeed,
                        Vector2D<?,?> target)

Description copied from interface: AligningMotionAlgorithm

Calculate the rotation for being aligned to the target vector.

Specified by:

calculate in interface AligningMotionAlgorithm

Parameters:

orientation - is the current orientation of the entity.

angularSpeed - is the current angular speed of the entity.

maxAngularSpeed - is the maximal angular speed or acceleration of the entity.

target - is the vector to match.

Returns:

the agent motion.