com.first.team2052.lib.path

Class AdaptivePurePursuitController

java.lang.Object

com.first.team2052.lib.path.AdaptivePurePursuitController

public class AdaptivePurePursuitController
extends java.lang.Object

Implements an adaptive pure pursuit controller. See: https://www.ri.cmu.edu/pub_files/pub1/kelly_alonzo_1994_4/kelly_alonzo_1994_4.pdf Basically, we find a spot on the path we'd like to follow and calculate the wheel speeds necessary to make us land on that spot. The target spot is a specified distance ahead of us, and we look further ahead the greater our tracking error.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	AdaptivePurePursuitController.Circle

Constructor Summary

Constructors

Constructor and Description
AdaptivePurePursuitController(double fixed_lookahead, double max_accel, double nominal_dt, Path path, boolean reversed, double path_completion_tolerance)

Method Summary

Modifier and Type	Method and Description
java.util.Set<java.lang.String>	getMarkersCrossed()
boolean	isDone()
static java.util.Optional<AdaptivePurePursuitController.Circle>	joinPath(RigidTransform2d robot_pose, Translation2d lookahead_point)
RigidTransform2d.Delta	update(RigidTransform2d robot_pose, double now)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

AdaptivePurePursuitController

public AdaptivePurePursuitController(double fixed_lookahead,
                                     double max_accel,
                                     double nominal_dt,
                                     Path path,
                                     boolean reversed,
                                     double path_completion_tolerance)

Method Detail

isDone

public boolean isDone()

update

public RigidTransform2d.Delta update(RigidTransform2d robot_pose,
                                     double now)

getMarkersCrossed

public java.util.Set<java.lang.String> getMarkersCrossed()

joinPath

public static java.util.Optional<AdaptivePurePursuitController.Circle> joinPath(RigidTransform2d robot_pose,
                                                                                Translation2d lookahead_point)