com.acmerobotics.roadrunner.followers

Class TrajectoryFollower

com.acmerobotics.roadrunner.followers.TrajectoryFollower

Direct Known Subclasses:

HolonomicPIDVAFollower, RamseteFollower, TankPIDVAFollower

public class TrajectoryFollower

Generic class Trajectory follower for time-based pose reference tracking.

See Also:

class Trajectory

Constructor Summary

Constructors

Constructor and Description
TrajectoryFollower(Pose2d admissibleError, double timeout, NanoClock clock) Generic class Trajectory follower for time-based pose reference tracking.
TrajectoryFollower(Pose2d admissibleError, double timeout) Generic class Trajectory follower for time-based pose reference tracking.
TrajectoryFollower(Pose2d admissibleError) Generic class Trajectory follower for time-based pose reference tracking.
TrajectoryFollower() Generic class Trajectory follower for time-based pose reference tracking.

Method Summary

Modifier and Type	Method and Description
double	elapsedTime() Returns the elapsed time since the last TrajectoryFollower.followTrajectory call.
void	followTrajectory(Trajectory trajectory) Follow the given trajectory.
NanoClock	getClock() clock
Pose2d	getLastError() Robot pose error computed in the last TrajectoryFollower.update call.
Trajectory	getTrajectory() Trajectory being followed if TrajectoryFollower.isFollowing is true.
boolean	isFollowing() Returns true if the current trajectory has finished executing.
void	setLastError(Pose2d p) Robot pose error computed in the last TrajectoryFollower.update call.
void	setTrajectory(Trajectory p) Trajectory being followed if TrajectoryFollower.isFollowing is true.
void	update(Pose2d currentPose) Run a single iteration of the trajectory follower.

Constructor Detail

TrajectoryFollower

public TrajectoryFollower(Pose2d admissibleError,
                          double timeout,
                          NanoClock clock)

Generic class Trajectory follower for time-based pose reference tracking.

Parameters:

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

timeout - max time to wait for the error to be admissible

clock - clock

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

timeout - max time to wait for the error to be admissible

clock - clock

See Also:

class Trajectory

TrajectoryFollower

public TrajectoryFollower(Pose2d admissibleError,
                          double timeout)

Generic class Trajectory follower for time-based pose reference tracking.

Parameters:

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

timeout - max time to wait for the error to be admissible

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

timeout - max time to wait for the error to be admissible

See Also:

class Trajectory

TrajectoryFollower

public TrajectoryFollower(Pose2d admissibleError)

Generic class Trajectory follower for time-based pose reference tracking.

Parameters:

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

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

See Also:

class Trajectory

TrajectoryFollower

public TrajectoryFollower()

Generic class Trajectory follower for time-based pose reference tracking.

See Also:

class Trajectory

Method Detail

getTrajectory

public Trajectory getTrajectory()

Trajectory being followed if TrajectoryFollower.isFollowing is true.

See Also:

TrajectoryFollower.isFollowing

setTrajectory

public void setTrajectory(Trajectory p)

Trajectory being followed if TrajectoryFollower.isFollowing is true.

See Also:

TrajectoryFollower.isFollowing

getLastError

public Pose2d getLastError()

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

See Also:

TrajectoryFollower.update

setLastError

public void setLastError(Pose2d p)

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

See Also:

TrajectoryFollower.update

followTrajectory

public void followTrajectory(Trajectory trajectory)

Follow the given trajectory.

isFollowing

public boolean isFollowing()

Returns true if the current trajectory has finished executing.

elapsedTime

public double elapsedTime()

Returns the elapsed time since the last TrajectoryFollower.followTrajectory call.

See Also:

TrajectoryFollower.followTrajectory

update

public void update(Pose2d currentPose)

Run a single iteration of the trajectory follower.

Parameters:

currentPose - current robot pose

getClock

public NanoClock getClock()

clock