SinglePrevalent
constructor(environment: Euclidean2DEnvironmentWithGraph<*, T, N, *>, node: Node<T>, prevalent: SteeringActions<T>.() -> NavigationAction2D<T, *, *, N, *>, toleranceAngle: Double = DEFAULT_TOLERANCE_ANGLE, alpha: Double = DEFAULT_ALPHA, maxWalk: () -> Double, maxWalkRatio: Double = DEFAULT_MAX_WALK_RATIO, delta: Double = DEFAULT_DELTA)(source)
Parameters
environment
the environment with navigation graph.
node
the node owning the steering strategy.
prevalent
function selecting the prevalent NavigationAction.
toleranceAngle
tolerance angle in radians.
alpha
smoothing alpha for exponential smoothing.
maxWalk
function computing the maximum allowed walk distance.
maxWalkRatio
minimum magnitude ratio for the resulting force.
delta
decrement step used when searching for a suitable weight w.
Type Parameters
T
the concentration type.
N
the polygon type used by the environment's navigation graph.