Single
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)
Parameters
environment
the environment with navigation graph.
node
the node owning the steering strategy.
prevalent
function selecting the prevalent NavigationAction.
tolerance
tolerance angle in radians.
alpha
smoothing alpha for exponential smoothing.
max
function computing the maximum allowed walk distance.
max
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.