Function compute_obstacle_potential

Function Documentation

std::vector<float> compute_obstacle_potential(const std::vector<Obstacle> &obstacles_list, int field_size, float field_resolution)

Computes the potential field generated by a list of obstacles.

This function calculates the potential field for a given list of obstacles. Each obstacle contributes to the potential field using a Gaussian distribution. The resulting potential field is normalized to have a maximum value of 1.0.

Parameters:

  • obstacles_list – A vector of Obstacle objects representing the obstacles.

  • field_size – The size of the potential field (number of discrete angles).

  • field_resolution – The resolution of the field in degrees per index.

Returns:

A vector of floats representing the computed potential field.