core / com.acmerobotics.roadrunner.followers / GVFFollower

GVFFollower

class GVFFollower : PathFollower (source)

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

Parameters

maxVel - maximum velocity

maxAccel - maximum acceleration

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

kN - normal vector weight (see GuidingVectorField)

kOmega - proportional heading gain

errorMapFunc - error map function (see GuidingVectorField)

clock - clock

Constructors

<init>

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

GVFFollower(maxVel: Double, maxAccel: Double, admissibleError: Pose2d, kN: Double, kOmega: Double, errorMapFunc: (Double) -> Double = { it }, clock: NanoClock = NanoClock.system())

Properties

lastError

Robot pose error computed in the last update call.

var lastError: Pose2d

Functions

followPath	Follow the given path. `fun followPath(path: Path): Unit`
internalUpdate	`fun internalUpdate(currentPose: Pose2d): DriveSignal`