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

Field Summary

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

path

Constructor Summary

Constructors

Constructor and Description
GVFFollower(SimpleMotionConstraints constraints, Pose2d admissibleError, double kN, double kOmega, 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(SimpleMotionConstraints constraints, Pose2d admissibleError, double kN, double kOmega, kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc) State-of-the-art path follower based on the class GuidingVectorField.
GVFFollower(SimpleMotionConstraints constraints, Pose2d admissibleError, double kN, double kOmega) 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 update call.
protected DriveSignal	internalUpdate(Pose2d currentPose)
protected void	setLastError(Pose2d p) Robot pose error computed in the last update call.

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

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

Constructor Detail

GVFFollower

@JvmOverloads
public GVFFollower(@NotNull
                                 SimpleMotionConstraints constraints,
                                 @NotNull
                                 Pose2d admissibleError,
                                 double kN,
                                 double kOmega,
                                 @NotNull
                                 kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc,
                                 @NotNull
                                 NanoClock clock)

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

Parameters:

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

errorMapFunc - error map function (see class GuidingVectorField)

clock - clock

See Also:

class GuidingVectorField

GVFFollower

@JvmOverloads
public GVFFollower(@NotNull
                                 SimpleMotionConstraints constraints,
                                 @NotNull
                                 Pose2d admissibleError,
                                 double kN,
                                 double kOmega,
                                 @NotNull
                                 kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc)

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

Parameters:

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

errorMapFunc - error map function (see class GuidingVectorField)

See Also:

class GuidingVectorField

GVFFollower

@JvmOverloads
public GVFFollower(@NotNull
                                 SimpleMotionConstraints constraints,
                                 @NotNull
                                 Pose2d admissibleError,
                                 double kN,
                                 double kOmega)

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

Parameters:

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

See Also:

class GuidingVectorField

Method Detail

getLastError

@NotNull
public Pose2d getLastError()

Robot pose error computed in the last update call.

See Also:

update

setLastError

protected void setLastError(@NotNull
                            Pose2d p)

Robot pose error computed in the last update call.

See Also:

update

followPath

public void followPath(@NotNull
                       Path path)

Follow the given path.

Parameters:

path - path

See Also:

path

internalUpdate

@NotNull
protected DriveSignal internalUpdate(@NotNull
                                              Pose2d currentPose)