Navigation/com.amarcolini.joos.followers/TrajectoryFollower

TrajectoryFollower

public abstract class TrajectoryFollower

Generic Trajectory follower for time-based pose reference tracking.

Parameters

admissibleError

admissible/satisfactory pose error at the end of each move

timeout

max time to wait for the error to be admissible

clock

Inheritors

HolonomicPIDVAFollower

RamseteFollower

TankPIDVAFollower

Constructors

TrajectoryFollower

@JvmOverloads()

public TrajectoryFollower TrajectoryFollower(Pose2d admissibleError, Double timeout, NanoClock clock)

@JvmOverloads()

public TrajectoryFollower TrajectoryFollower(Pose2d admissibleError, Double timeout)

@JvmOverloads()

public TrajectoryFollower TrajectoryFollower(Pose2d admissibleError)

@JvmOverloads()

public TrajectoryFollower TrajectoryFollower()

Properties

clock

private final NanoClock clock

lastError

private Pose2d lastError

Robot pose error computed in the last update call.

trajectory

private Trajectory trajectory

Trajectory being followed if isFollowing is true.

Functions

elapsedTime

public final Double elapsedTime()

Returns the elapsed time since the last followTrajectory call.

followTrajectory

public Unit followTrajectory(Trajectory trajectory)

Follow the given trajectory.

getClock

protected final NanoClock getClock()

getLastError

public abstract Pose2d getLastError()

Robot pose error computed in the last update call.

getTrajectory

public final Trajectory getTrajectory()

Trajectory being followed if isFollowing is true.

internalUpdate

protected abstract DriveSignal internalUpdate(Pose2d currentPose, Pose2d currentRobotVel)

isFollowing

public final Boolean isFollowing()

Returns true if the current trajectory is currently executing.

setLastError

protected abstract Unit setLastError(Pose2d lastError)

setTrajectory

protected final Unit setTrajectory(Trajectory trajectory)

update

@JvmOverloads()

public final DriveSignal update(Pose2d currentPose)

@JvmOverloads()

public final DriveSignal update(Pose2d currentPose, Pose2d currentRobotVel)

Run a single iteration of the trajectory follower.