Navigation/com.amarcolini.joos.followers/GVFFollower

GVFFollower

public final class GVFFollower extends PathFollower

State-of-the-art path follower based on the GuidingVectorField. Any heading interpolation on any path is ignored.

Parameters

maxVel

maximum velocity

maxAccel

maximum acceleration

maxDecel

maximum deceleration

admissibleError

admissible/satisfactory pose error at the end of each move

kN

normal vector weight (see GuidingVectorField)

kOmega

proportional heading velocity gain

pidCoeffs

heading PID coefficients

errorMapFunc

error map function (see GuidingVectorField)

clock

clock

Constructors

@JvmOverloads()

public GVFFollower GVFFollower(Double maxVel, Double maxAccel, Double maxDecel, Angle maxAngVel, Angle maxAngAccel, Pose2d admissibleError, Double kN, Double kOmega, PIDCoefficients pidCoeffs, Double correctionDistance, Boolean useCurvatureControl, Function1<Double, Double> errorMapFunc, NanoClock clock)

@JvmOverloads()

public GVFFollower GVFFollower(Double maxVel, Double maxAccel, Double maxDecel, Angle maxAngVel, Angle maxAngAccel, Pose2d admissibleError, Double kN, Double kOmega, PIDCoefficients pidCoeffs, Double correctionDistance, Boolean useCurvatureControl, Function1<Double, Double> errorMapFunc)

@JvmOverloads()

public GVFFollower GVFFollower(Double maxVel, Double maxAccel, Double maxDecel, Angle maxAngVel, Angle maxAngAccel, Pose2d admissibleError, Double kN, Double kOmega, PIDCoefficients pidCoeffs, Double correctionDistance, Boolean useCurvatureControl)

@JvmOverloads()

public GVFFollower GVFFollower(Double maxVel, Double maxAccel, Double maxDecel, Angle maxAngVel, Angle maxAngAccel, Pose2d admissibleError, Double kN, Double kOmega, PIDCoefficients pidCoeffs, Double correctionDistance)

@JvmOverloads()

public GVFFollower GVFFollower(Double maxVel, Double maxAccel, Double maxDecel, Angle maxAngVel, Angle maxAngAccel, Pose2d admissibleError, Double kN, Double kOmega, PIDCoefficients pidCoeffs)

Properties

correctionDistance

public Double correctionDistance

public Double kN

public Double kOmega

private Pose2d lastError

Robot pose error computed in the last update call.

public Double maxAccel

public Angle maxAngAccel

public Angle maxAngVel

public Double maxDecel

public Double maxVel

public final PIDCoefficients pidCoeffs

useCurvatureControl

public Boolean useCurvatureControl

Functions

public final Unit followGVF(FollowableGVF gvf)

public Unit followPath(Path path)

Follow the given path.

public Pose2d getLastError()

Robot pose error computed in the last update call.

protected DriveSignal internalUpdate(Pose2d currentPose, Pose2d currentRobotVel)

protected Unit setLastError(Pose2d lastError)

Robot pose error computed in the last update call.