| Class | Description |
|---|---|
| GVFFollower |
State-of-the-art path follower based on the
class GuidingVectorField. |
| GuidingVectorField |
Guiding vector field for effective path following described in section III, eq. (9) of
1610.04391.pdf. Implementation note: 2D parametric curves are used to
describe paths instead of implicit curves of the form f(x,y) = 0 as described in the paper (which dramatically
affects the cross track error calculation).
|
| HolonomicPIDVAFollower |
Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More
specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to
determine the velocity correction. The feedforward components are instead applied at the wheel level.
|
| MecanumPIDVAFollower |
Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More
specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to
determine the velocity correction. The feedforward components are instead applied at the wheel level.
|
| PathFollower |
Generic
class Path follower for time-independent pose reference tracking. |
| RamseteFollower |
Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of
Ramsete01.pdf.
|
| SwervePIDVAFollower |
Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More
specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to
determine the velocity correction. The feedforward components are instead applied at the wheel level.
|
| TankPIDVAFollower |
Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More
specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and
another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to
class MecanumPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level. |
| TrajectoryFollower |
Generic
class Trajectory follower for time-based pose reference tracking. |