Artificial-potential-controller.py 文件源码

def goal_force(arr, sx, sy, dx, dy, d_star): # sx, sy :- source  dx, dy:- destination   d_star:- threshold distance from goal
    forcex = 0
    forcey = 0
    tau = 1000000  #constant
    printx('10')
    d = math.sqrt((dx-sx)*(dx-sx) + (dy-sy)*(dy-sy))
    if d > d_star:
        forcex += ((d_star*tau*math.sin(math.atan2(dx-sx, dy-sy))))
        forcey += ((d_star*tau*math.cos(math.atan2(dx-sx, dy-sy))))

    else:
        forcex += ((dx-sx)*tau)
        forcey += ((dy-sy)*tau)

    printx('11')
    return (forcex, forcey)