Navigation/com.amarcolini.joos.followers

Package-level declarations

An assortment of path and trajectory followers for various drivetrains

Types

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.

HolonomicGVFFollower

class HolonomicGVFFollower @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, var kX: Double, var kY: 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 for holonomic drives based on the GuidingVectorField.

HolonomicPIDVAFollower

class HolonomicPIDVAFollower @JvmOverloads constructor(axialCoeffs: PIDCoefficients, lateralCoeffs: PIDCoefficients, headingCoeffs: PIDCoefficients, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system) : TrajectoryFollower

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, the feedback is applied to the components of the robot's pose (x position, y position, and heading) to determine the velocity correction. The feedforward components are instead applied at the wheel level.

PathFollower

abstract class PathFollower @JvmOverloads constructor(val admissibleError: Pose2d, val clock: NanoClock = NanoClock.system)

Generic Path follower for time-independent pose reference tracking.

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.

TankPIDVAFollower

class TankPIDVAFollower @JvmOverloads constructor(axialCoeffs: PIDCoefficients, crossTrackCoeffs: PIDCoefficients, admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, clock: NanoClock = NanoClock.system) : TrajectoryFollower

Traditional PID controller with feedforward velocity and acceleration components to follow a trajectory. More specifically, one feedback loop controls the path displacement (that is, x in the robot reference frame), and another feedback loop to minimize cross track (lateral) error via heading correction (overall, very similar to HolonomicPIDVAFollower except adjusted for the nonholonomic constraint). Feedforward is applied at the wheel level.

TrajectoryFollower

abstract class TrajectoryFollower @JvmOverloads constructor(admissibleError: Pose2d = Pose2d(), timeout: Double = 0.0, val clock: NanoClock = NanoClock.system)

Generic Trajectory follower for time-based pose reference tracking.