class potentialField{

    public:
        // diffenet points used
        struct point{
            float x;
            float y;
        };
        
        struct attractivePoint{
            float x;
            float y;
            float weight;
        };
        
        struct repulsivePoint{
            float x;
            float y;
            float weight;
            float maxRange;
        };
      
        void addPoint(repulsivePoint p);        // adds a repulsive point to the potential field
        void addPoint(attractivePoint p);       // adds a attractive point to the potential field
        std::vector<float> attractiveGrad(point p);
        std::vector<float> repulsiveGrad(point p);
        std::vector<float> netGrad(point p);
        float magnitude(std::vector<float> vect);
        std::vector<float> normalize(std::vector<float> vect);
        std::vector<float> netGradNormalized(point p);
      
        void printPotentialField();
      
    private:
        double findDist(point p,repulsivePoint t);
        double findDist(point p,attractivePoint t);
      
        std::vector< attractivePoint > attractiveField;
        std::vector< repulsivePoint > repulsiveField;
};