pathplanner::PathFollowingController Class Reference

Inheritance diagram for pathplanner::PathFollowingController:

Public Member Functions
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

Member Function Documentation

calculateRobotRelativeSpeeds()

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

pure virtual

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

Implemented in pathplanner::PPHolonomicDriveController, and pathplanner::PPLTVController.

getPositionalError()

virtual units::meter_t pathplanner::PathFollowingController::getPositionalError ( )

pure virtual

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

Returns

Positional error, in meters

Implemented in pathplanner::PPHolonomicDriveController, and pathplanner::PPLTVController.

isHolonomic()

virtual bool pathplanner::PathFollowingController::isHolonomic ( )

pure virtual

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

Implemented in pathplanner::PPHolonomicDriveController, and pathplanner::PPLTVController.

reset()

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

pure virtual

Resets the controller based on the current state of the robot

Parameters

currentPose	Current robot pose
currentSpeeds	Current robot relative chassis speeds

Implemented in pathplanner::PPHolonomicDriveController, and pathplanner::PPLTVController.

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

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