core / com.acmerobotics.roadrunner.followers / GVFFollower

GVFFollower

class GVFFollower : PathFollower

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

Parameters

constraints - robot motion constraints

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

kN - normal vector weight (see GuidingVectorField)

kOmega - proportional heading gain

errorMapFunc - error map function (see GuidingVectorField)

clock - clock

Constructors

<init>

GVFFollower(constraints: SimpleMotionConstraints, admissibleError: Pose2d, kN: Double, kOmega: Double, errorMapFunc: (Double) -> Double = { it }, clock: NanoClock = NanoClock.system())

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

Properties

lastError

var lastError: Pose2d

Robot pose error computed in the last update call.

Inherited Properties

clock	`val clock: NanoClock` clock
path	`lateinit var path: Path` Path being followed if isFollowing is true.

Functions

followPath	`fun followPath(path: Path): Unit` Follow the given path.
internalUpdate	`fun internalUpdate(currentPose: Pose2d): DriveSignal`

Inherited Functions

isFollowing	`fun isFollowing(): Boolean` Returns true if the current path has finished executing.
update	`fun update(currentPose: Pose2d): DriveSignal` Run a single iteration of the path follower.