RamseteFollower

class RamseteFollower @JvmOverloads constructor(b: Double = 0.051, zeta: Double = 0.018, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system) : TrajectoryFollower

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

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

Constructors

constructor(b: Double = 0.051, zeta: Double = 0.018, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system)

open override var lastError: Pose2d

Robot pose error computed in the last update call.

protected open override fun internalUpdate(currentPose: Pose2d, currentRobotVel: Pose2d?): DriveSignal