com.acmerobotics.roadrunner.followers

Class RamseteFollower

TrajectoryFollower

com.acmerobotics.roadrunner.followers.RamseteFollower

public class RamseteFollower
extends TrajectoryFollower

Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

See Also:

Ramsete01.pdf

Field Summary

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

trajectory

Constructor Summary

Constructors

Constructor and Description
RamseteFollower(double b, double zeta, Pose2d admissibleError, double timeout, NanoClock clock) Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
RamseteFollower(double b, double zeta, Pose2d admissibleError, double timeout) Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
RamseteFollower(double b, double zeta, Pose2d admissibleError) Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
RamseteFollower(double b, double zeta) Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

Method Summary

Modifier and Type	Method and Description
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.TrajectoryFollower

elapsedTime, followTrajectory, getClock, getLastError, getTrajectory, internalUpdate, isFollowing, setLastError, setTrajectory, update

Constructor Detail

RamseteFollower

@JvmOverloads
public RamseteFollower(double b,
                                     double zeta,
                                     @NotNull
                                     Pose2d admissibleError,
                                     double timeout,
                                     @NotNull
                                     NanoClock clock)

Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

Parameters:

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

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:

Ramsete01.pdf

RamseteFollower

@JvmOverloads
public RamseteFollower(double b,
                                     double zeta,
                                     @NotNull
                                     Pose2d admissibleError,
                                     double timeout)

Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

Parameters:

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

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

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

See Also:

Ramsete01.pdf

RamseteFollower

@JvmOverloads
public RamseteFollower(double b,
                                     double zeta,
                                     @NotNull
                                     Pose2d admissibleError)

Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

Parameters:

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

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

See Also:

Ramsete01.pdf

RamseteFollower

@JvmOverloads
public RamseteFollower(double b,
                                     double zeta)

Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.

Parameters:

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

See Also:

Ramsete01.pdf

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

internalUpdate

@NotNull
protected DriveSignal internalUpdate(@NotNull
                                              Pose2d currentPose)