Kaim::AvoidanceSolver< TraverseLogic > Class Template Reference

#include <avoidancesolver.h>

Class Description

template<class TraverseLogic>
class Kaim::AvoidanceSolver< TraverseLogic >

AvoidanceSolver computes a velocity compatible with all the colliders in AvoidanceWorkspace and the NavData accordingly to TraverseLogic.

Inherits Kaim::IAvoidanceSolver.

Functions
	AvoidanceSolver ()
virtual AvoidanceResult	Solve (AvoidanceSolverConfig &config, const Vec2f &previousVelocity, const Vec2f &desiredVelocity, Vec2f &outputVelocity, Vec2f &outputFrontDirection, bool &collide)
	Compute the more appropriate velocity. More...

Member Function Documentation

template<class TLogic >

AvoidanceResult Kaim::AvoidanceSolver< TLogic >::Solve ( AvoidanceSolverConfig &  config, const Vec2f &  previousVelocity, const Vec2f &  desiredVelocity, Vec2f &  outputVelocity, Vec2f &  outputFrontDirection, bool &  collide  )

virtual

Compute the more appropriate velocity.

It stops at the first compatible one in this order:

1. directly check desiredVelocity
2. try reducing speed in desiredVelocity direction
3. search solutions in other directions. If no solution is found, outputVelocity is set to null vector.

Implements Kaim::IAvoidanceSolver.

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

• gwnavruntime/pathfollower/avoidancesolver.h
• gwnavruntime/pathfollower/avoidancesolver.inl