Based primarily on 6328's FieldConstants.java.
A signed distance function is a function mapping points to the nearest distance to any obstacle. The sign determines if the point is within or outside the bounds. For our implementation, a positive distance is a valid robot position.
We've added a function to get the minimum distance from a point to any of the field boundaries including
- The Grids
- The Charging Station
- The Guardrail between the Loading Station and Community
- The Field Perimeter
Additionally, you may model your robot as a circle and find the SDF of the configuration space
Future Work:
- Probabilistic Road Maps
- Use this metric for local connectivity
- Deterministic sampling method
- 3D SDFs for non-circular models of a robot. The third dimension would parameterize robot heading.