Package io.github.frc5024.purepursuit

Class Follower

java.lang.Object

io.github.frc5024.purepursuit.Follower

public class Follower
extends java.lang.Object

A lookahead finder for finding new points in a 2D path.

This is a Java implementation of https://github.com/AtsushiSakai/PythonRobotics/blob/9274aacefb8fb52feac544fc26d075046f703afd/PathTracking/pure_pursuit/pure_pursuit.py#L77-L10

Field Summary

Fields

Modifier and Type	Field	Description
Path	m_path

Constructor Summary

Constructors

Constructor	Description
Follower(Path path, double lookaheadDistance, double lookaheadGain, double drivebaseWidth)	Create a path follower

Method Summary

Modifier and Type	Method	Description
double	getDrivebaseWidth()	Get the width of the drivebase
Translation2d	getFinalPose()	Get the final pose of the path
double	getLookaheadDistance()	Get the current lookahead distance
double	getLookaheadGain()	Get the lookahead gain
Translation2d	getNextPoint(Pose2d robotPose)	Get the next goal pose
void	reset()	Reset the follower
void	setLookaheadDistance(double distance)	Set the lookahead distance
void	setLookaheadGain(double gain)	Set the max area around the lookahead to accept pose deviation.

Methods inherited from class java.lang.Object

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

Field Detail

m_path

public Path m_path

Constructor Detail

Follower

public Follower(Path path,
                double lookaheadDistance,
                double lookaheadGain,
                double drivebaseWidth)

Create a path follower

Parameters:

path - Path to follow

lookaheadDistance - Lookahead distance

lookaheadGain - The minimum distance required to fetch a new pose

drivebaseWidth - Drivebase width

Method Detail

setLookaheadDistance

public void setLookaheadDistance(double distance)

Set the lookahead distance

Parameters:

distance - Distance to look ahead for a new goal pose

getLookaheadDistance

public double getLookaheadDistance()

Get the current lookahead distance

Returns:

Distance to goal pose look radius

setLookaheadGain

public void setLookaheadGain(double gain)

Set the max area around the lookahead to accept pose deviation. Generally leave this as 0.1

Parameters:

gain - Check area

getLookaheadGain

public double getLookaheadGain()

Get the lookahead gain

Returns:

Gain

getDrivebaseWidth

public double getDrivebaseWidth()

Get the width of the drivebase

Returns:

Drivebase width

reset

public void reset()

Reset the follower

getNextPoint

public Translation2d getNextPoint(Pose2d robotPose)

Get the next goal pose

Parameters:

robotPose - Robot's current pose

Returns:

Next goal in path

getFinalPose

public Translation2d getFinalPose()

Get the final pose of the path

Returns:

Final pose