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

Field Summary

Fields

Modifier and Type	Field and Description
protected Trajectory	trajectory Trajectory being followed if isFollowing is true.

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 followTrajectory call.
void	followTrajectory(Trajectory trajectory) Follow the given trajectory.
protected NanoClock	getClock() clock
Pose2d	getLastError() Robot pose error computed in the last update call.
Trajectory	getTrajectory() Trajectory being followed if isFollowing is true.
protected DriveSignal	internalUpdate(Pose2d currentPose)
boolean	isFollowing() Returns true if the current trajectory has finished executing.
protected void	setLastError(Pose2d p) Robot pose error computed in the last update call.
protected void	setTrajectory(Trajectory p) Trajectory being followed if isFollowing is true.
DriveSignal	update(Pose2d currentPose) Run a single iteration of the trajectory follower.

Field Detail

trajectory

@NotNull
protected Trajectory trajectory

Trajectory being followed if isFollowing is true.

See Also:

isFollowing

Constructor Detail

TrajectoryFollower

@JvmOverloads
public TrajectoryFollower(@NotNull
                                        Pose2d admissibleError,
                                        double timeout,
                                        @NotNull
                                        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

See Also:

class Trajectory

TrajectoryFollower

@JvmOverloads
public TrajectoryFollower(@NotNull
                                        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

See Also:

class Trajectory

TrajectoryFollower

@JvmOverloads
public TrajectoryFollower(@NotNull
                                        Pose2d admissibleError)

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

Parameters:

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

See Also:

class Trajectory

TrajectoryFollower

@JvmOverloads
public TrajectoryFollower()

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

See Also:

class Trajectory

Method Detail

getTrajectory

@NotNull
public Trajectory getTrajectory()

Trajectory being followed if isFollowing is true.

See Also:

isFollowing

setTrajectory

protected void setTrajectory(@NotNull
                             Trajectory p)

Trajectory 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

followTrajectory

public void followTrajectory(@NotNull
                             Trajectory trajectory)

Follow the given trajectory.

See Also:

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 followTrajectory call.

See Also:

followTrajectory

update

@NotNull
public DriveSignal update(@NotNull
                                   Pose2d currentPose)

Run a single iteration of the trajectory follower.

Parameters:

currentPose - current robot pose

internalUpdate

@NotNull
protected DriveSignal internalUpdate(@NotNull
                                              Pose2d currentPose)

getClock

@NotNull
protected NanoClock getClock()

clock