trait BaseMovementLib extends AnyRef
This trait contains the basic movement libraries for the MacroSwarm. It includes movements like standStill, brownian, maintainTrajectory, maintainUntil, obstacleAvoidance.
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- MacroSwarmSupport.BaseMovementLib with E.StandardSensors with E.AggregateProgram with E.TimeUtils
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- BaseMovementLib
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- def brownian(scale: Double = 1.0): Point3D
Brownian movement, i.e., random movement.
Brownian movement, i.e., random movement.
- scale
the scale of the movement, i.e., the multiplier of the random vector
- returns
the random vector
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- def maintainTrajectory(velocityGenerator: => Point3D)(time: FiniteDuration): Point3D
Maintains a trajectory for a given time, then changes it.
Maintains a trajectory for a given time, then changes it.
- velocityGenerator
the generator of the velocity
- time
the time after which the trajectory is changed
- def maintainUntil(velocity: Point3D)(condition: Boolean): Point3D
Maintains a trajectory until a condition is met, then it became zero.
Maintains a trajectory until a condition is met, then it became zero.
- velocity
the velocity to maintain
- condition
the condition to be met
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- def obstacleAvoidance(obstacles: Seq[Point3D], minDistance: Double, distanceWeightNormalization: Double = 100): Point3D
Avoids obstacles creating a repulsive force from them.
Avoids obstacles creating a repulsive force from them.
- obstacles
the obstacles to avoid expressed in term of the direction from the device
- minDistance
the minimum distance from the obstacles
- def standStill(): Point3D
No movement, i.e., stand still.
No movement, i.e., stand still.
- returns
the zero vector
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(Since version 9)