Module org.arakhne.afc.advanced.agentmotion

Package org.arakhne.afc.agentmotion.steering

Class AligningSteeringAlgorithm

java.lang.Object

org.arakhne.afc.agentmotion.steering.AligningSteeringAlgorithm

All Implemented Interfaces:

Serializable, Cloneable, AligningMotionAlgorithm

public class AligningSteeringAlgorithm
extends Object
implements AligningMotionAlgorithm, Serializable, Cloneable

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

This algorithm uses accelerations.

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 int	approximationFactor	Approximation factor.
protected double	decelerationAngle	Angle to the target under which the agent could decelerate.
protected double	stopAngle	Angle to the target under which the agent could stop.

Constructor Summary

Constructors

Constructor	Description
AligningSteeringAlgorithm(double stopAngle, double decelerationAngle, int approximationFactor)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	calculate(Vector2D<?,?> orientation, double angularSpeed, double maxAngularAcceleration, Vector2D<?,?> target)	Calculate the rotation for being aligned to the target vector.
AligningSteeringAlgorithm	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.

decelerationAngle

protected final double decelerationAngle

Angle to the target under which the agent could decelerate.

approximationFactor

protected final int approximationFactor

Approximation factor.

Constructor Detail

AligningSteeringAlgorithm

public AligningSteeringAlgorithm(double stopAngle,
                                 double decelerationAngle,
                                 int approximationFactor)

Constructor.

Parameters:

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

decelerationAngle - the angle the target under which the agent could decelerate.

approximationFactor - the factor used for approximate the deceleration. It must be greater than 1.

Method Detail

clone

@Pure
public AligningSteeringAlgorithm 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 maxAngularAcceleration,
                        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.

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

target - is the vector to match.

Returns:

the agent motion.