com.acmerobotics.roadrunner.followers

Class GVFFollower

PathFollower

com.acmerobotics.roadrunner.followers.GVFFollower

public class GVFFollower
extends PathFollower

State-of-the-art path follower based on the class GuidingVectorField.

See Also:

class GuidingVectorField

Constructor Summary

Constructors

Constructor and Description
GVFFollower(TankDrive drive, SimpleMotionConstraints constraints, Pose2d admissibleError, double kN, double kOmega, double kV, double kA, double kStatic, kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc, NanoClock clock) State-of-the-art path follower based on the class GuidingVectorField.
GVFFollower(TankDrive drive, SimpleMotionConstraints constraints, Pose2d admissibleError, double kN, double kOmega, double kV, double kA, double kStatic, kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc) State-of-the-art path follower based on the class GuidingVectorField.
GVFFollower(TankDrive drive, SimpleMotionConstraints constraints, Pose2d admissibleError, double kN, double kOmega, double kV, double kA, double kStatic) State-of-the-art path follower based on the class GuidingVectorField.

Method Summary

Modifier and Type	Method and Description
void	followPath(Path path) Follow the given path.
Pose2d	getLastError() Robot pose error computed in the last PathFollower.update call.
void	setLastError(Pose2d p) Robot pose error computed in the last PathFollower.update call.
void	update(Pose2d currentPose) Run a single iteration of the path follower.

Methods inherited from class com.acmerobotics.roadrunner.followers.PathFollower

followPath, getClock, getLastError, getPath, isFollowing, setLastError, setPath, update

Constructor Detail

GVFFollower

public GVFFollower(TankDrive drive,
                   SimpleMotionConstraints constraints,
                   Pose2d admissibleError,
                   double kN,
                   double kOmega,
                   double kV,
                   double kA,
                   double kStatic,
                   kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc,
                   NanoClock clock)

State-of-the-art path follower based on the class GuidingVectorField.

Parameters:

drive - tank drive

constraints - robot motion constraints

admissibleError - admissible/satisfactory pose error at the end of each move

kN - normal vector weight (see class 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 class GuidingVectorField)

clock - clock

drive - tank drive

constraints - robot motion constraints

admissibleError - admissible/satisfactory pose error at the end of each move

kN - normal vector weight (see class 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 class GuidingVectorField)

clock - clock

See Also:

class GuidingVectorField

GVFFollower

public GVFFollower(TankDrive drive,
                   SimpleMotionConstraints constraints,
                   Pose2d admissibleError,
                   double kN,
                   double kOmega,
                   double kV,
                   double kA,
                   double kStatic,
                   kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc)

State-of-the-art path follower based on the class GuidingVectorField.

Parameters:

drive - tank drive

constraints - robot motion constraints

admissibleError - admissible/satisfactory pose error at the end of each move

kN - normal vector weight (see class 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 class GuidingVectorField)

drive - tank drive

constraints - robot motion constraints

admissibleError - admissible/satisfactory pose error at the end of each move

kN - normal vector weight (see class 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 class GuidingVectorField)

See Also:

class GuidingVectorField

GVFFollower

public GVFFollower(TankDrive drive,
                   SimpleMotionConstraints constraints,
                   Pose2d admissibleError,
                   double kN,
                   double kOmega,
                   double kV,
                   double kA,
                   double kStatic)

State-of-the-art path follower based on the class GuidingVectorField.

Parameters:

drive - tank drive

constraints - robot motion constraints

admissibleError - admissible/satisfactory pose error at the end of each move

kN - normal vector weight (see class GuidingVectorField)

kOmega - proportional heading gain

kV - feedforward velocity gain

kA - feedforward acceleration gain (currently unused)

kStatic - additive feedforward constant (used to overcome static friction)

drive - tank drive

constraints - robot motion constraints

admissibleError - admissible/satisfactory pose error at the end of each move

kN - normal vector weight (see class GuidingVectorField)

kOmega - proportional heading gain

kV - feedforward velocity gain

kA - feedforward acceleration gain (currently unused)

kStatic - additive feedforward constant (used to overcome static friction)

See Also:

class GuidingVectorField

Method Detail

getLastError

public Pose2d getLastError()

Robot pose error computed in the last PathFollower.update call.

See Also:

PathFollower.update

setLastError

public void setLastError(Pose2d p)

Robot pose error computed in the last PathFollower.update call.

See Also:

PathFollower.update

followPath

public void followPath(Path path)

Follow the given path.

Parameters:

path - path

update

public void update(Pose2d currentPose)

Run a single iteration of the path follower.

Parameters:

currentPose - current robot pose