Navigation/com.amarcolini.joos.followers/PathFollower

PathFollower

public abstract class PathFollower

Generic Path follower for time-independent pose reference tracking.

Parameters

clock

clock

Inheritors

HolonomicGVFFollower

Constructors

@JvmOverloads()

public PathFollower PathFollower(Pose2d admissibleError, NanoClock clock)

@JvmOverloads()

public PathFollower PathFollower(Pose2d admissibleError)

Properties

admissibleError

private final Pose2d admissibleError

private final NanoClock clock

private Pose2d lastError

Robot pose error computed in the last update call.

private Path path

Path being followed if isFollowing is true.

Functions

public Unit followPath(Path path)

Follow the given path.

getAdmissibleError

protected final Pose2d getAdmissibleError()

protected final NanoClock getClock()

public abstract Pose2d getLastError()

Robot pose error computed in the last update call.

public final Path getPath()

Path being followed if isFollowing is true.

protected abstract DriveSignal internalUpdate(Pose2d currentPose, Pose2d currentRobotVel)

public final Boolean isFollowing()

Returns false if the current path has finished executing.

protected abstract Unit setLastError(Pose2d lastError)

protected final Unit setPath(Path path)

@JvmOverloads()

public final DriveSignal update(Pose2d currentPose)

@JvmOverloads()

public final DriveSignal update(Pose2d currentPose, Pose2d currentRobotVel)

Run a single iteration of the path follower.