class GVFFollower : PathFollower
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)
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. |
var lastError: Pose2d
Robot pose error computed in the last update call. |
val clock: NanoClock
clock |
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var path: Path |
fun followPath(path: Path): Unit
Follow the given path. |
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fun isFollowing(): Boolean
Returns true if the current path has finished executing. |
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fun update(currentPose: Pose2d): Unit
Run a single iteration of the path follower. |