public class RamseteFollower
extends TrajectoryFollower
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
Constructor and Description |
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RamseteFollower(TankDrive drive,
double b,
double zeta,
double kV,
double kA,
double kStatic,
Pose2d admissibleError,
double timeout,
NanoClock clock)
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of
Ramsete01.pdf.
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RamseteFollower(TankDrive drive,
double b,
double zeta,
double kV,
double kA,
double kStatic,
Pose2d admissibleError,
double timeout)
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of
Ramsete01.pdf.
|
RamseteFollower(TankDrive drive,
double b,
double zeta,
double kV,
double kA,
double kStatic,
Pose2d admissibleError)
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of
Ramsete01.pdf.
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RamseteFollower(TankDrive drive,
double b,
double zeta,
double kV,
double kA,
double kStatic)
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of
Ramsete01.pdf.
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Modifier and Type | Method and Description |
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Pose2d |
getLastError()
Robot pose error computed in the last
TrajectoryFollower.update call. |
void |
setLastError(Pose2d p)
Robot pose error computed in the last
TrajectoryFollower.update call. |
void |
update(Pose2d currentPose)
Run a single iteration of the trajectory follower.
|
elapsedTime, followTrajectory, getClock, getLastError, getTrajectory, isFollowing, setLastError, setTrajectory, update
public RamseteFollower(TankDrive drive, double b, double zeta, double kV, double kA, double kStatic, Pose2d admissibleError, double timeout, NanoClock clock)
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
drive
- tank driveb
- b parameter (non-negative)zeta
- zeta parameter (on (0, 1))kV
- feedforward velocity gainkA
- feedforward acceleration gain (currently unused)kStatic
- additive feedforward constant (used to overcome static friction)admissibleError
- admissible/satisfactory pose error at the end of each movetimeout
- max time to wait for the error to be admissibleclock
- clockdrive
- tank driveb
- b parameter (non-negative)zeta
- zeta parameter (on (0, 1))kV
- feedforward velocity gainkA
- feedforward acceleration gain (currently unused)kStatic
- additive feedforward constant (used to overcome static friction)admissibleError
- admissible/satisfactory pose error at the end of each movetimeout
- max time to wait for the error to be admissibleclock
- clockpublic RamseteFollower(TankDrive drive, double b, double zeta, double kV, double kA, double kStatic, Pose2d admissibleError, double timeout)
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
drive
- tank driveb
- b parameter (non-negative)zeta
- zeta parameter (on (0, 1))kV
- feedforward velocity gainkA
- feedforward acceleration gain (currently unused)kStatic
- additive feedforward constant (used to overcome static friction)admissibleError
- admissible/satisfactory pose error at the end of each movetimeout
- max time to wait for the error to be admissibledrive
- tank driveb
- b parameter (non-negative)zeta
- zeta parameter (on (0, 1))kV
- feedforward velocity gainkA
- feedforward acceleration gain (currently unused)kStatic
- additive feedforward constant (used to overcome static friction)admissibleError
- admissible/satisfactory pose error at the end of each movetimeout
- max time to wait for the error to be admissiblepublic RamseteFollower(TankDrive drive, double b, double zeta, double kV, double kA, double kStatic, Pose2d admissibleError)
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
drive
- tank driveb
- b parameter (non-negative)zeta
- zeta parameter (on (0, 1))kV
- feedforward velocity gainkA
- feedforward acceleration gain (currently unused)kStatic
- additive feedforward constant (used to overcome static friction)admissibleError
- admissible/satisfactory pose error at the end of each movedrive
- tank driveb
- b parameter (non-negative)zeta
- zeta parameter (on (0, 1))kV
- feedforward velocity gainkA
- feedforward acceleration gain (currently unused)kStatic
- additive feedforward constant (used to overcome static friction)admissibleError
- admissible/satisfactory pose error at the end of each movepublic RamseteFollower(TankDrive drive, double b, double zeta, double kV, double kA, double kStatic)
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
drive
- tank driveb
- b parameter (non-negative)zeta
- zeta parameter (on (0, 1))kV
- feedforward velocity gainkA
- feedforward acceleration gain (currently unused)kStatic
- additive feedforward constant (used to overcome static friction)drive
- tank driveb
- b parameter (non-negative)zeta
- zeta parameter (on (0, 1))kV
- feedforward velocity gainkA
- feedforward acceleration gain (currently unused)kStatic
- additive feedforward constant (used to overcome static friction)public Pose2d getLastError()
Robot pose error computed in the last TrajectoryFollower.update
call.
TrajectoryFollower.update
public void setLastError(Pose2d p)
Robot pose error computed in the last TrajectoryFollower.update
call.
TrajectoryFollower.update
public void update(Pose2d currentPose)
Run a single iteration of the trajectory follower.
currentPose
- current robot pose