RamseteFollower

class RamseteFollower : TrajectoryFollower (source)

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

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

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

RamseteFollower(b: Double, zeta: Double, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system())

Robot pose error computed in the last update call.

var lastError: Pose2d

fun internalUpdate(currentPose: Pose2d, currentRobotVel: Pose2d?): DriveSignal