pathplanner::PPLTVController Class Reference

Inheritance diagram for pathplanner::PPLTVController:

Public Member Functions
	PPLTVController (units::second_t dt, units::velocity::meters_per_second_t maxVelocity=9_mps)
	PPLTVController (const wpi::array< double, 3 > &Qelems, const wpi::array< double, 2 > &Relems, units::second_t dt, units::meters_per_second_t maxVelocity=9_mps)
frc::ChassisSpeeds	calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectoryState &targetState) override
void	reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds) override
units::meter_t	getPositionalError () override
bool	isHolonomic () override
virtual frc::ChassisSpeeds	calculateRobotRelativeSpeeds (const frc::Pose2d &currentPose, const PathPlannerTrajectoryState &targetState)=0
virtual void	reset (const frc::Pose2d &currentPose, const frc::ChassisSpeeds &currentSpeeds)=0
virtual units::meter_t	getPositionalError ()=0
virtual bool	isHolonomic ()=0

Constructor & Destructor Documentation

PPLTVController() [1/2]

pathplanner::PPLTVController::PPLTVController ( units::second_t  dt, units::velocity::meters_per_second_t  maxVelocity = 9_mps  )

inline

Constructs a linear time-varying unicycle controller with default maximum desired error tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s, 2 rad/s).

Parameters

dt	Discretization timestep in seconds.
maxVelocity	The maximum velocity in meters per second for the controller gain lookup table. The default is 9 m/s.

PPLTVController() [2/2]

pathplanner::PPLTVController::PPLTVController ( const wpi::array< double, 3 > &  Qelems, const wpi::array< double, 2 > &  Relems, units::second_t  dt, units::meters_per_second_t  maxVelocity = 9_mps  )

inline

Constructs a linear time-varying unicycle controller.

See https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning for how to select the tolerances.

Parameters

Qelems	The maximum desired error tolerance for each state.
Relems	The maximum desired control effort for each input.
dt	Discretization timestep in seconds.
maxVelocity	The maximum velocity in meters per second for the controller gain lookup table. The default is 9 m/s.

Exceptions

IllegalArgumentException

if maxVelocity <= 0 m/s or >= 15 m/s.

Member Function Documentation

calculateRobotRelativeSpeeds()

frc::ChassisSpeeds pathplanner::PPLTVController::calculateRobotRelativeSpeeds ( const frc::Pose2d &  currentPose, const PathPlannerTrajectoryState &  targetState  )

inlineoverridevirtual

Calculates the next output of the path following controller

Parameters

currentPose	The current robot pose
targetState	The desired trajectory state

Returns

The next robot relative output of the path following controller

Implements pathplanner::PathFollowingController.

getPositionalError()

units::meter_t pathplanner::PPLTVController::getPositionalError ( )

inlineoverridevirtual

Get the current positional error between the robot's actual and target positions

Returns

Positional error, in meters

Implements pathplanner::PathFollowingController.

isHolonomic()

bool pathplanner::PPLTVController::isHolonomic ( )

inlineoverridevirtual

Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.

Returns

True if this controller is for a holonomic drive train

Implements pathplanner::PathFollowingController.

reset()

void pathplanner::PPLTVController::reset ( const frc::Pose2d &  currentPose, const frc::ChassisSpeeds &  currentSpeeds  )

inlineoverridevirtual

Resets the controller based on the current state of the robot

Parameters

currentPose	Current robot pose
currentSpeeds	Current robot relative chassis speeds

Implements pathplanner::PathFollowingController.

---

The documentation for this class was generated from the following file:

• src/main/native/include/pathplanner/lib/controllers/PPLTVController.h