frc.team670.robot.commands.drive.purePursuit

Class Path

java.lang.Object

frc.team670.robot.commands.drive.purePursuit.Path

public class Path
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
Path(double spacing)
Path(double spacing, boolean reverse)

Method Summary

Modifier and Type	Method and Description
void	addLastPoint()
void	addSegment(Vector start, Vector end) Adds a path segment to this path
double	calculateCurrDistance(int point)
double	calculateCurvatureLookAheadArc(Vector currPos, double heading, Vector lookahead, double lookaheadDistance)
Vector	getEndPoint()
java.util.ArrayList<Vector>	getRobotPath()
Vector	getStartPoint()
double	getTotalPathDistance()
void	initializePath(double maxVel, double maxAccel, double maxVelk) Initializes the path
void	setCurvatures()
void	setDistances()
void	setTargetVelocities(double maxVel, double maxAccel, double k)
void	smooth(double a, double b, double tolerance) Smooths the path using gradient descent

Methods inherited from class java.lang.Object

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

Constructor Detail

Path

public Path(double spacing,
            boolean reverse)

Path

public Path(double spacing)

Method Detail

getRobotPath

public java.util.ArrayList<Vector> getRobotPath()

getStartPoint

public Vector getStartPoint()

getEndPoint

public Vector getEndPoint()

initializePath

public void initializePath(double maxVel,
                           double maxAccel,
                           double maxVelk)

Initializes the path

Parameters:

maxVel - maximum robot velocity

maxAccel - maximum robot acceleration

maxVelk - maximum turning velocity (between 1-5)

addSegment

public void addSegment(Vector start,
                       Vector end)

Adds a path segment to this path

Parameters:

start - starting point

end - ending point

smooth

public void smooth(double a,
                   double b,
                   double tolerance)

Smooths the path using gradient descent

Parameters:

a - 1-b

b - smoothing factor (higher = more smooth)

tolerance - convergence tolerance amount (higher = less smoothing)

addLastPoint

public void addLastPoint()

calculateCurrDistance

public double calculateCurrDistance(int point)

getTotalPathDistance

public double getTotalPathDistance()

setCurvatures

public void setCurvatures()

setTargetVelocities

public void setTargetVelocities(double maxVel,
                                double maxAccel,
                                double k)

setDistances

public void setDistances()

calculateCurvatureLookAheadArc

public double calculateCurvatureLookAheadArc(Vector currPos,
                                             double heading,
                                             Vector lookahead,
                                             double lookaheadDistance)