◆ setCurvatureAdjust()
| void pathfinder.Pathfinder.Path.setCurvatureAdjust |
( |
double |
curvatureAdjust | ) |
|
This function overrides the curvatureAdjust. 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. If this function is not called then the default curvatureAdjust as set in the Pathfinder class will be used.
- Parameters
-
| curvatureAdjust | - Specifies the new curvature adjustment. |
◆ setExtendedLookAheadDistance()
| void pathfinder.Pathfinder.Path.setExtendedLookAheadDistance |
( |
double |
extendedLookAheadDistance | ) |
|
This function overrides the extendedLookAheadDistance. If extended lookahead is enabled then this is the distance to extend the path beyond the end for the purpose of navigation. Note the robot will still stop at the original end position. If this function is not called then the default extendedLookAheadDistance as set in the Pathfinder class will be used.
- Parameters
-
| extendedLookAheadDistance | - Specifies the new distance. |
◆ setLookAheadTime()
| void pathfinder.Pathfinder.Path.setLookAheadTime |
( |
double |
lookAheadTime | ) |
|
This function overrides the lookAheadTime. The lookAheadTime is used to find a point in the future along the path to which the robot is steered. If this function is not called then the default lookAheadTime as set in the Pathfinder class will be used.
- Parameters
-
| lookAheadTime | - Specifies the new lookahead time. |
◆ setMaxSearchTime()
| void pathfinder.Pathfinder.Path.setMaxSearchTime |
( |
double |
maxSearchTime | ) |
|
This function overrides the maxSearchTime. This is the maximum time to look ahead on the path to find the closest point to the current robot position. If this function is not called then the default maxSearchTime as set in the Pathfinder class will be used.
- Parameters
-
| maxSearchTime | - Specifies the new search time. |
◆ setMinLookAheadDist()
| void pathfinder.Pathfinder.Path.setMinLookAheadDist |
( |
double |
minLookAheadDist | ) |
|
This function overrides the minLookAheadDist. If the distance to the point found by using the lookAheadTime is less than the minLookAheadDist, then a new target point is found with at least this minimum distance. If this function is not called then the default minLookAheadDist as set in the Pathfinder class will be used.
- Parameters
-
| minLookAheadDist | - Specifies the new minimum lookahead distance. |
◆ setMinSpeed()
| void pathfinder.Pathfinder.Path.setMinSpeed |
( |
double |
minSpeed | ) |
|
This function overrides the minSpeed. This is the minimum speed for the robot which keeps the robot from stalling. If this function is not called then the default minSpeed as set in the Pathfinder class will be used.
- Parameters
-
| minSpeed | - Specifies the new minimum speed. |
The documentation for this class was generated from the following file:
- D:/SDASVN/2022/RaspberryPi/Source/pathfinder/Pathfinder.java
