Class AnglePIDController

Public

Implements a PID controller for the angular velocity of an agent following a curve.

The PID controller is formulated for small angles (see https://en.wikipedia.org/wiki/Small-angle_approximation), but extends well to large angles. For small angles, if y(t) is the curve/agent position, then y'(t) is the angle and y''(t) is the angular velocity. This controller outputs an angular velocity, meaning it controls y''(t).

See https://en.wikipedia.org/wiki/PID_controller

Public Static Methods

Control (followingStrength, angle, curveAngle, curveCurvature, curveDistanceSigned, speed, maxRotationSpeed, maxOnSpotRotationSpeed, isStationary, dt, allowRotatingOnSpot)

How much to rotate and move in order to smoothly follow a given curve.

Public Static

float	followingStrength	The integral term of the PID controller. The higher this value is, the quicker the agent will try to align with the curve.
float	angle	The current direction of the agent, in radians.
float	curveAngle	The angle of the curve tangent at the nearest point, in radians.
float	curveCurvature	The curvature of the curve at the nearest point. Positive values means the curve is turning to the left, negative values means the curve is turning to the right.
float	curveDistanceSigned	The signed distance from the agent to the curve. Positive values means the agent is to the right of the curve, negative values means the agent is to the left of the curve.
float	speed	How quickly the agent should move. In meters/second.
float	maxRotationSpeed	How quickly the agent is allowed to rotate at most. In radians/second. The agent will slow down if it would have needed to rotate faster than this.
float	maxOnSpotRotationSpeed
bool	isStationary	Should be true if the agent is currently standing still (or close to it). This allows it to rotate in place.
float	dt	How long the current time-step is. In seconds.
bool	allowRotatingOnSpot

Class AnglePIDController

Public Static Methods

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