GVFFollower

class GVFFollower @JvmOverloads constructor(var maxVel: Double, var maxAccel: Double, var maxDecel: Double, var maxAngVel: Angle, var maxAngAccel: Angle, admissibleError: Pose2d, var kN: Double, var kOmega: Double, val pidCoeffs: PIDCoefficients, var correctionDistance: Double = 5.0, var useCurvatureControl: Boolean = false, errorMapFunc: (Double) -> Double = { it }, clock: NanoClock = NanoClock.system) : PathFollower

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

maxVel

maximum velocity

maxAccel

maximum acceleration

maxDecel

maximum deceleration

admissibleError

admissible/satisfactory pose error at the end of each move

normal vector weight (see GuidingVectorField)

kOmega

proportional heading velocity gain

pidCoeffs

heading PID coefficients

errorMapFunc

error map function (see GuidingVectorField)

clock

Constructors

constructor(maxVel: Double, maxAccel: Double, maxDecel: Double, maxAngVel: Angle, maxAngAccel: Angle, admissibleError: Pose2d, kN: Double, kOmega: Double, pidCoeffs: PIDCoefficients, correctionDistance: Double = 5.0, useCurvatureControl: Boolean = false, errorMapFunc: (Double) -> Double = { it }, clock: NanoClock = NanoClock.system)