rz::AdaptivePurePursuitController class
#include <include/RaidZeroLib/api/Chassis/AdaptivePurePursuitController.hpp>

The AdaptivePurePurePursuitController is a controller that drives the robot along a path using the pure pursuit algorithn.

In each iteration, the controller computes the lookahead point on the path that is one lookahead distance away from the robot. The robot then drives towards the point at constant curvature given the target velocity. This process is repeated until the end of the path is reached.

Public types

struct Gains: Gains that characterize the behavior of the controller.

Constructors, destructors, conversion operators

AdaptivePurePursuitController(const std::shared_ptr<OdomChassisController>& chassis, const Gains& gains, const TimeUtil& timeUtil, std::unique_ptr<FeedforwardController<QLength>> leftController = nullptr, std::unique_ptr<FeedforwardController<QLength>> rightController = nullptr): Constructs a new AdaptivePurePursuitController.

Public functions

void followPath(const DiscretePath& path, QTime timeout = 2_min, bool isReversed = false): Follows the given path.
void stop(): Stops the chassis and any running movements.
void waitUntilSettled(): Blocks the current movement until the movement is complete.

Function documentation

rz::AdaptivePurePursuitController::AdaptivePurePursuitController(const std::shared_ptr<OdomChassisController>& chassis, const Gains& gains, const TimeUtil& timeUtil, std::unique_ptr<FeedforwardController<QLength>> leftController = nullptr, std::unique_ptr<FeedforwardController<QLength>> rightController = nullptr)

Constructs a new AdaptivePurePursuitController.

Parameters
chassis	The chassis to control
gains	The gains to use
timeUtil	The time utility to use
leftController	The left side feedforward velocity controller. If this is null, the controller will use vex's internal velocity control
rightController	The right side feedforward velocity controller. If this is null, the controller will use vex's internal velocity control

void rz::AdaptivePurePursuitController::followPath(const DiscretePath& path, QTime timeout = 2_min, bool isReversed = false)

Follows the given path.

Parameters
path	The path to follow
timeout	The maximum time allowed to follow the path. This is to prevent the robot from getting stuck
isReversed	Whether or not to follow the path in reverse