PathFollower

com.acmerobotics.roadrunner.followers.PathFollower

Direct Known Subclasses:

GVFFollower
```
public class PathFollower
```
Generic class Path follower for time-independent pose reference tracking.

See Also:

class Path

Constructor Summary

Constructors
Constructor and Description
`PathFollower(Pose2d admissibleError, NanoClock clock)` Generic `class Path` follower for time-independent pose reference tracking.
`PathFollower(Pose2d admissibleError)` Generic `class Path` follower for time-independent pose reference tracking.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`followPath(Path path)` Follow the given path.
`NanoClock`	`getClock()` clock
`Pose2d`	`getLastError()` Robot pose error computed in the last `PathFollower.update` call.
`Path`	`getPath()` Path being followed if `PathFollower.isFollowing` is true.
`boolean`	`isFollowing()` Returns true if the current path has finished executing.
`void`	`setLastError(Pose2d p)` Robot pose error computed in the last `PathFollower.update` call.
`void`	`setPath(Path p)` Path being followed if `PathFollower.isFollowing` is true.
`void`	`update(Pose2d currentPose)` Run a single iteration of the path follower.

- Constructor Detail
  - PathFollower
```
public PathFollower(Pose2d admissibleError,
                    NanoClock clock)
```
    Generic class Path follower for time-independent pose reference tracking.
    
    Parameters:
    
    clock - clock
    
    clock - clock
    
    See Also:
    
    class Path
  - PathFollower
```
public PathFollower(Pose2d admissibleError)
```
    Generic class Path follower for time-independent pose reference tracking.
    
    See Also:
    
    class Path
- Method Detail
  - getPath
```
public Path getPath()
```
    Path being followed if PathFollower.isFollowing is true.
    
    See Also:
    
    PathFollower.isFollowing
  - setPath
```
public void setPath(Path p)
```
    Path being followed if PathFollower.isFollowing is true.
    
    See Also:
    
    PathFollower.isFollowing
  - 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
  - isFollowing
```
public boolean isFollowing()
```
    Returns true if the current path has finished executing.
  - update
```
public void update(Pose2d currentPose)
```
    Run a single iteration of the path follower.
    
    Parameters:
    
    currentPose - current robot pose
  - getClock
```
public NanoClock getClock()
```
    clock

Class PathFollower

Constructor Summary

Method Summary

Constructor Detail

PathFollower

PathFollower

Method Detail

getPath

setPath

getLastError

setLastError

followPath

isFollowing

update

getClock