RamseteFollower

class RamseteFollower : TrajectoryFollower

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

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

RamseteFollower(b: Double, zeta: Double, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system())

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

var lastError: Pose2d

Robot pose error computed in the last update call.

clock	`val clock: NanoClock` clock
trajectory	`lateinit var trajectory: Trajectory` Trajectory being followed if isFollowing is true.

fun internalUpdate(currentPose: Pose2d): DriveSignal

elapsedTime	`fun elapsedTime(): Double` Returns the elapsed time since the last followTrajectory call.
followTrajectory	`open fun followTrajectory(trajectory: Trajectory): Unit` Follow the given trajectory.
isFollowing	`fun isFollowing(): Boolean` Returns true if the current trajectory has finished executing.
update	`fun update(currentPose: Pose2d): DriveSignal` Run a single iteration of the trajectory follower.