com.acmerobotics.roadrunner.followers

Class RamseteFollower

TrajectoryFollower

com.acmerobotics.roadrunner.followers.RamseteFollower

public class RamseteFollower
extends TrajectoryFollower

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

See Also:

Ramsete01.pdf

Constructor Detail

RamseteFollower

@JvmOverloads
public RamseteFollower(double b,
                                     double zeta,
                                     @NotNull
                                     Pose2d admissibleError,
                                     double timeout,
                                     @NotNull
                                     NanoClock clock)

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

Parameters:

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

See Also:

Ramsete01.pdf

RamseteFollower

@JvmOverloads
public RamseteFollower(double b,
                                     double zeta,
                                     @NotNull
                                     Pose2d admissibleError,
                                     double timeout)

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

Parameters:

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

See Also:

Ramsete01.pdf

RamseteFollower

@JvmOverloads
public RamseteFollower(double b,
                                     double zeta,
                                     @NotNull
                                     Pose2d admissibleError)

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

Parameters:

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

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

See Also:

Ramsete01.pdf

RamseteFollower

@JvmOverloads
public RamseteFollower(double b,
                                     double zeta)

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

Parameters:

b - b parameter (non-negative)

zeta - zeta parameter (on (0, 1))

See Also:

Ramsete01.pdf

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

internalUpdate

@NotNull
protected DriveSignal internalUpdate(@NotNull
                                              Pose2d currentPose,
                                              @Nullable
                                              Pose2d currentRobotVel)