Navigation/com.amarcolini.joos.followers/RamseteFollower

RamseteFollower

public final class RamseteFollower extends TrajectoryFollower

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

Parameters

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

Constructors

RamseteFollower

@JvmOverloads()

public RamseteFollower RamseteFollower(Double b, Double zeta, Pose2d admissibleError, Double timeout, NanoClock clock)

@JvmOverloads()

public RamseteFollower RamseteFollower(Double b, Double zeta, Pose2d admissibleError, Double timeout)

@JvmOverloads()

public RamseteFollower RamseteFollower(Double b, Double zeta, Pose2d admissibleError)

@JvmOverloads()

public RamseteFollower RamseteFollower(Double b, Double zeta)

@JvmOverloads()

public RamseteFollower RamseteFollower(Double b)

@JvmOverloads()

public RamseteFollower RamseteFollower()

Properties

private Pose2d lastError

Robot pose error computed in the last update call.

Functions

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.