The Pathfinder class is used to convert waypoints into a Path that can be used by the PurePursuit class to control the robot so that it follows a specified path.
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The Pathfinder class is used to convert waypoints into a Path that can be used by the PurePursuit class to control the robot so that it follows a specified path.
- Author
- John Gaby
◆ computePath()
| static Path pathfinder.Pathfinder.computePath |
( |
final Waypoint[] |
waypoints_in, |
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int |
sample_count, |
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|
double |
dt, |
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|
double |
max_velocity, |
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|
double |
max_acceleration, |
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|
double |
max_decl, |
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double |
max_jerk, |
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double |
wheelBase |
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) |
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static |
Computes a path from the specified waypoints.
- Parameters
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| waypoints_in | - Specifies the waypoints which define the path. |
| sample_count | - Specifies the number of points/bezier curve to generate. |
| dt | - Specifies the time between points on the output path. |
| max_velocity | - Specifies the maximum allowable velocity for either of the wheels. |
| max_acceleration | - Specifies the maximum allowable acceleration. |
| max_decl | - Specifies the maximum allowable deceleration. |
| wheelbase | - Specifies the width of the wheelbase in feet. |
◆ printPath()
| static void pathfinder.Pathfinder.printPath |
( |
Path |
path | ) |
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static |
Prints the specified path to the console. Useful for debugging.
- Parameters
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| path | - Specifies the path to print. |
◆ SetDefaultCurvatureAdjust()
| static void pathfinder.Pathfinder.SetDefaultCurvatureAdjust |
( |
double |
curvatureAdjust | ) |
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static |
Sets the curvature adjust value that is used when new paths are created. The curvature adjust value is used to force the robot to more (or less) aggressively steer toward the target point. A value of 1 will use the curvature that is computed by the Pure Pursuit algorithm. A value greater than 1 will cause the robot to steer more aggressively towards that point and a value less than will will cause the robot to steer less aggressively.
- Parameters
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| curvatureAdjust | - Specifies the adjustment value. |
◆ setDefaultExtendedLookAheadDistance()
| static void pathfinder.Pathfinder.setDefaultExtendedLookAheadDistance |
( |
double |
distance | ) |
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static |
Sets the default extended lookahead distance that is used when new paths are created.
- Parameters
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| distance | - Specifies the extended lookahead distance in feet. |
◆ setDefaultLookAheadTime()
| static void pathfinder.Pathfinder.setDefaultLookAheadTime |
( |
double |
lookAheadTime | ) |
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static |
Sets the default lookahead time that is used when new paths are created. This is the time that PurePursuit looks ahead on the path to find the point at which to steer.
- Parameters
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| lookAheadTime | - Specifies lookahead time in seconds. |
◆ setDefaultMaxSearchTime()
| static void pathfinder.Pathfinder.setDefaultMaxSearchTime |
( |
double |
maxSearchTime | ) |
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static |
Sets the default max search time when new paths are created. When searching for the closest point on the path to the current robot position, this is that max time from the current time to search.
- Parameters
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| maxSearchTime | - Specifies the max search time in seconds. |
◆ setDefaultMinLookAheadDistance()
| static void pathfinder.Pathfinder.setDefaultMinLookAheadDistance |
( |
double |
minLookAheadDist | ) |
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static |
Sets the default minimum lookahead distance that is used when new paths are created If the distance computed by using the lookAheadTime is less than this value, then this value will be used instead.
- Parameters
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| minLookAheadDist | - Specifies the minimum lookahead distance in feet. |
◆ setDefaultMinSpeed()
| static void pathfinder.Pathfinder.setDefaultMinSpeed |
( |
double |
minSpeed | ) |
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static |
Sets the default minimum speed for the robot when new paths are created.
- Parameters
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| minSpeed | - Specifies the minimum speed for the robot in feet/second. |
The documentation for this class was generated from the following file:
- D:/SDASVN/2022/RaspberryPi/Source/pathfinder/Pathfinder.java
