TrajectoryFollower

abstract class TrajectoryFollower

Generic Trajectory follower for time-based pose reference tracking.

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

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

clock - clock

TrajectoryFollower(admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system())

Generic Trajectory follower for time-based pose reference tracking.

clock	`val clock: NanoClock` clock
lastError	`abstract var lastError: Pose2d` Robot pose error computed in the last update call.
trajectory	`lateinit var trajectory: Trajectory` Trajectory being followed if isFollowing is true.

elapsedTime	`fun elapsedTime(): Double` Returns the elapsed time since the last followTrajectory call.
followTrajectory	`open fun followTrajectory(trajectory: Trajectory): Unit` Follow the given trajectory.
internalUpdate	`abstract fun internalUpdate(currentPose: Pose2d): DriveSignal`
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.

HolonomicPIDVAFollower	`class HolonomicPIDVAFollower : TrajectoryFollower` Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to determine the velocity correction. The feedforward components are instead applied at the wheel level.
RamseteFollower	`class RamseteFollower : TrajectoryFollower` Time-varying, non-linear feedback controller for nonholonomic drives. See equation 5.12 of Ramsete01.pdf.
TankPIDVAFollower	`class TankPIDVAFollower : TrajectoryFollower` Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.