trait LeaderBasedLib extends AnyRef
This library provides the basic movement primitives for the leader-based movement. It mainly consist in function for aligning, sinking, and spinning around a leader, i.e., a node that is responsible for the movement of a subset of the nodes. Indeed, the leader-based movements are based of G, therefore they create areas of influence around the leader.
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- MacroSwarmSupport.LeaderBasedLib with E.AggregateProgram with E.StandardSensors with E.FieldUtils with E.TimeUtils with MacroSwarmSupport.BaseMovementLib with E.CustomSpawn with E.BlocksWithGC with MacroSwarmSupport.BlocksWithShare
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- def alignWithLeader(source: Boolean, velocity: Point3D): Point3D
Aligns the node with the leader, i.e., it returns the vector from the node to the leader.
Aligns the node with the leader, i.e., it returns the vector from the node to the leader.
- source
whether the node is the leader or not
- returns
the velocity aligned with the leader
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- def sinkAt(source: Boolean): Point3D
Sink the node towards the leader, i.e., it returns the vector from the node to the leader.
Sink the node towards the leader, i.e., it returns the vector from the node to the leader.
- source
whether the node is the leader or not
- returns
the vector from the node to the leader
- def spinAround(center: Boolean): Point3D
Spins around the leader, i.e., it returns the vector orthogonal to the vector from the node to the leader.
Spins around the leader, i.e., it returns the vector orthogonal to the vector from the node to the leader.
- center
whether the node is the leader or not
- returns
the vector orthogonal to the vector from the node to the leader
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(Since version 9)