com.acmerobotics.roadrunner.followers

Class TrajectoryFollower

com.acmerobotics.roadrunner.followers.TrajectoryFollower

Direct Known Subclasses:

HolonomicPIDVAFollower, RamseteFollower, TankPIDVAFollower

public class TrajectoryFollower

Generic class Trajectory follower for time-based pose reference tracking.

See Also:

class Trajectory

Field Detail

trajectory

@NotNull
protected Trajectory trajectory

Trajectory being followed if isFollowing is true.

See Also:

isFollowing

Constructor Detail

TrajectoryFollower

@JvmOverloads
public TrajectoryFollower(@NotNull
                                        Pose2d admissibleError,
                                        double timeout,
                                        @NotNull
                                        NanoClock clock)

Generic class Trajectory follower for time-based pose reference tracking.

Parameters:

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:

class Trajectory

TrajectoryFollower

@JvmOverloads
public TrajectoryFollower(@NotNull
                                        Pose2d admissibleError,
                                        double timeout)

Generic class Trajectory follower for time-based pose reference tracking.

Parameters:

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

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

See Also:

class Trajectory

TrajectoryFollower

@JvmOverloads
public TrajectoryFollower(@NotNull
                                        Pose2d admissibleError)

Generic class Trajectory follower for time-based pose reference tracking.

Parameters:

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

See Also:

class Trajectory

TrajectoryFollower

@JvmOverloads
public TrajectoryFollower()

Generic class Trajectory follower for time-based pose reference tracking.

See Also:

class Trajectory

Method Detail

getTrajectory

@NotNull
public Trajectory getTrajectory()

Trajectory being followed if isFollowing is true.

See Also:

isFollowing

setTrajectory

protected void setTrajectory(@NotNull
                             Trajectory p)

Trajectory being followed if isFollowing is true.

See Also:

isFollowing

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

followTrajectory

public void followTrajectory(@NotNull
                             Trajectory trajectory)

Follow the given trajectory.

See Also:

trajectory

isFollowing

public boolean isFollowing()

Returns true if the current trajectory is currently executing.

elapsedTime

public double elapsedTime()

Returns the elapsed time since the last followTrajectory call.

See Also:

followTrajectory

update

@JvmOverloads
 @NotNull
public DriveSignal update(@NotNull
                                                  Pose2d currentPose,
                                                  @Nullable
                                                  Pose2d currentRobotVel)

Run a single iteration of the trajectory follower.

Parameters:

currentPose - current field frame pose

currentRobotVel - current robot frame velocity

update

@JvmOverloads
 @NotNull
public DriveSignal update(@NotNull
                                                  Pose2d currentPose)

Run a single iteration of the trajectory follower.

Parameters:

currentPose - current field frame pose

internalUpdate

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

getClock

@NotNull
protected NanoClock getClock()

clock