com.acmerobotics.roadrunner.followers

Class 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

Field Summary

Fields

Modifier and Type	Field and Description
protected Path	path Path being followed if isFollowing is true.

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

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

Field Detail

path

@NotNull
protected Path path

Path being followed if isFollowing is true.

See Also:

isFollowing

Constructor Detail

PathFollower

@JvmOverloads
public PathFollower(@NotNull
                                  Pose2d admissibleError,
                                  @NotNull
                                  NanoClock clock)

Generic class Path follower for time-independent pose reference tracking.

Parameters:

clock - clock

See Also:

class Path

PathFollower

@JvmOverloads
public PathFollower(@NotNull
                                  Pose2d admissibleError)

Generic class Path follower for time-independent pose reference tracking.

See Also:

class Path

Method Detail

getPath

@NotNull
public Path getPath()

Path being followed if isFollowing is true.

See Also:

isFollowing

setPath

protected void setPath(@NotNull
                       Path p)

Path being followed if isFollowing is true.

See Also:

isFollowing

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

isFollowing

public boolean isFollowing()

Returns true if the current path has finished executing.

update

@NotNull
public DriveSignal update(@NotNull
                                   Pose2d currentPose)

Run a single iteration of the path follower.

Parameters:

currentPose - current robot pose

internalUpdate

@NotNull
protected DriveSignal internalUpdate(@NotNull
                                              Pose2d currentPose)

getClock

@NotNull
protected NanoClock getClock()

clock