com.acmerobotics.roadrunner.followers

Class GVFFollower

PathFollower

com.acmerobotics.roadrunner.followers.GVFFollower

public class GVFFollower
extends PathFollower

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

See Also:

class GuidingVectorField

Constructor Detail

GVFFollower

@JvmOverloads
public GVFFollower(double maxVel,
                                 double maxAccel,
                                 @NotNull
                                 Pose2d admissibleError,
                                 double kN,
                                 double kOmega,
                                 @NotNull
                                 kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc,
                                 @NotNull
                                 NanoClock clock)

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

Parameters:

maxVel - maximum velocity

maxAccel - maximum acceleration

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

kN - normal vector weight (see class GuidingVectorField)

kOmega - proportional heading gain

errorMapFunc - error map function (see class GuidingVectorField)

clock - clock

See Also:

class GuidingVectorField

GVFFollower

@JvmOverloads
public GVFFollower(double maxVel,
                                 double maxAccel,
                                 @NotNull
                                 Pose2d admissibleError,
                                 double kN,
                                 double kOmega,
                                 @NotNull
                                 kotlin.jvm.functions.Function1<? super java.lang.Double,java.lang.Double> errorMapFunc)

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

Parameters:

maxVel - maximum velocity

maxAccel - maximum acceleration

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

kN - normal vector weight (see class GuidingVectorField)

kOmega - proportional heading gain

errorMapFunc - error map function (see class GuidingVectorField)

See Also:

class GuidingVectorField

GVFFollower

@JvmOverloads
public GVFFollower(double maxVel,
                                 double maxAccel,
                                 @NotNull
                                 Pose2d admissibleError,
                                 double kN,
                                 double kOmega)

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

Parameters:

maxVel - maximum velocity

maxAccel - maximum acceleration

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

kN - normal vector weight (see class GuidingVectorField)

kOmega - proportional heading gain

See Also:

class GuidingVectorField

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

followPath

public void followPath(@NotNull
                       Path path)

Follow the given path.

Parameters:

path - path

See Also:

path

internalUpdate

@NotNull
protected DriveSignal internalUpdate(@NotNull
                                              Pose2d currentPose)