text: import math
  
  '''
  
  fr = repulsive_force as function of time
  fa = attractor_force as function of time
  w = noise
  dt = d_target
  do = d_obstacle 
  
  psi = heading_direction
  
  Psi1 = psi_target 
  Psi2 = psi_obstacle 
  Psi3 = psi_final 
  
  sb = sigma_obstacle = apparent 2r
  omega_t = psi_dot_t = first time derivative
  
  '''
  pi = math.pi 
  exp = math.exp
  atan2 = math.atan2
  #psi = 
  #Psi1 = 
  #Psi2 = 
  #Psi3 = 
  
  #dt = 
  #do = 
  #sb = 
  
  
  
  b1 = 6
  #b1 = 8
  b2 = 18
  #b2 = 15
  
  ##
  z = pi/6
  
  sig0 = dist[0]* atan2(30*pi/180)
  sig1 = dist[1]* atan2(30*pi/180)
  
  lamb1 = b1*exp(-(dist[0]-r0)/b2)
  lamb2 = b1*exp(-(dist[1]-r0)/b2)
  
  fr1 = -(lamb1*z*exp(-(z**2)/(sig0)**2))
  fr2 = -(lamb2*z*exp(-(z**2)/(sig0)**2))
  
  fr_final = fr1 + fr2
  
  
  # Attractor Behaviors
  
  #fr1 = -sin(psi-Psi1)
  #fr3 = -exp(-dt)*sin(psi-Psi3)
  #frf = fr1+fr3
  
  
  # Repulsive Behaviors
  #fr2 = exp(((-psi-Psi2)^2)/(2(sb^2)))*(psi-Psi2)*exp(-do/b2)