GVFFollower(drive: TankDrive, constraints: SimpleMotionConstraints, kN: Double, kOmega: Double, kV: Double, kA: Double, kStatic: Double, errorMapFunc: (Double) -> Double = { it }, clock: NanoClock = NanoClock.system())
State-of-the-art path follower based on the GuidingVectorField.
constraints - robot motion constraints
kN - normal vector weight (see GuidingVectorField)
kOmega - proportional heading gain
kV - feedforward velocity gain
kA - feedforward acceleration gain (currently unused)
kStatic - additive feedforward constant (used to overcome static friction)
errorMapFunc - error map function (see GuidingVectorField)