TrajectoryFollower

com.acmerobotics.roadrunner.followers.TrajectoryFollower

Direct Known Subclasses:

HolonomicPIDVAFollower, RamseteFollower, TankPIDVAFollower
```
public class TrajectoryFollower
```
Generic class Trajectory follower for time-based pose reference tracking.

See Also:

class Trajectory

Constructor Summary

Constructors
Constructor and Description
`TrajectoryFollower(NanoClock clock)` Generic `class Trajectory` follower for time-based pose reference tracking.
`TrajectoryFollower()` Generic `class Trajectory` follower for time-based pose reference tracking.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`elapsedTime()` Returns the elapsed time since the last `TrajectoryFollower.followTrajectory` calls.
`void`	`followTrajectory(Trajectory trajectory)` Follow the given trajectory.
`NanoClock`	`getClock()` clock
`Pose2d`	`getLastError()` Robot pose error computed in the last `TrajectoryFollower.update` call.
`Trajectory`	`getTrajectory()`
`boolean`	`isFollowing()` Returns true if the current trajectory has finished executing.
`void`	`setLastError(Pose2d p)` Robot pose error computed in the last `TrajectoryFollower.update` call.
`void`	`setTrajectory(Trajectory p)`
`void`	`update(Pose2d currentPose)` Run a single iteration of the trajectory follower.

- Constructor Detail
  - TrajectoryFollower
```
public TrajectoryFollower(NanoClock clock)
```
    Generic class Trajectory follower for time-based pose reference tracking.
    
    Parameters:
    
    clock - clock
    
    clock - clock
    
    See Also:
    
    class Trajectory
  - TrajectoryFollower
```
public TrajectoryFollower()
```
    Generic class Trajectory follower for time-based pose reference tracking.
    
    See Also:
    
    class Trajectory
- Method Detail
  - getTrajectory
```
public Trajectory getTrajectory()
```
  - setTrajectory
```
public void setTrajectory(Trajectory p)
```
  - getLastError
```
public Pose2d getLastError()
```
    Robot pose error computed in the last TrajectoryFollower.update call.
    
    See Also:
    
    TrajectoryFollower.update
  - setLastError
```
public void setLastError(Pose2d p)
```
    Robot pose error computed in the last TrajectoryFollower.update call.
    
    See Also:
    
    TrajectoryFollower.update
  - followTrajectory
```
public void followTrajectory(Trajectory trajectory)
```
    Follow the given trajectory.
  - isFollowing
```
public boolean isFollowing()
```
    Returns true if the current trajectory has finished executing.
  - elapsedTime
```
public double elapsedTime()
```
    Returns the elapsed time since the last TrajectoryFollower.followTrajectory calls.
    
    See Also:
    
    TrajectoryFollower.followTrajectory
  - update
```
public void update(Pose2d currentPose)
```
    Run a single iteration of the trajectory follower.
    
    Parameters:
    
    currentPose - current robot pose
  - getClock
```
public NanoClock getClock()
```
    clock

Class TrajectoryFollower

Constructor Summary

Method Summary

Constructor Detail

TrajectoryFollower

TrajectoryFollower

Method Detail

getTrajectory

setTrajectory

getLastError

setLastError

followTrajectory

isFollowing

elapsedTime

update

getClock