HolonomicGVFFollower
constructor(maxVel: Double, maxAccel: Double, maxDecel: Double, maxAngVel: Angle, maxAngAccel: Angle, admissibleError: Pose2d, kN: Double, kOmega: Double, kX: Double, kY: Double, pidCoeffs: PIDCoefficients, correctionDistance: Double = 5.0, useCurvatureControl: Boolean = false, errorMapFunc: (Double) -> Double = { it }, clock: NanoClock = NanoClock.system)
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 direction velocity gain
pidCoeffs
heading PID coefficients
errorMapFunc
error map function (see GuidingVectorField)
clock
clock