The controller takes a list of waypoints as a path to follow, then it calculates the optimal turning angle to stay on the path. More...

#include <pure_pursuit_controller.h>

Public Member Functions
	PurePursuitController (millimeter_t lookahead, millimeter_t wheelBaseLength, millimeter_t stopping_dist)

void	setWayPoints (const std::vector< Vector2< millimeter_t > > &wp)
	set waypoints which forms a path to be followed

void	addToWayPoint (const Vector2< millimeter_t > wayPoint)
	adds to the list of waypoints

void	setlookAheadDistance (const millimeter_t distance)

void	setWheelBaseLength (const millimeter_t length)
	sets the distance between the car's wheel bases

void	setStoppingDistance (const millimeter_t distance)
	sets the stopping distance. If the car is within this distance, the controller stops

bool	getTurningAngle (const millimeter_t x, const millimeter_t y, const radian_t heading, degree_t &turningAngle)
	calculates the turning angle needed to follow the path, returns true if there is a valid angle.

bool	getLookAheadPoint (const millimeter_t x, const millimeter_t y, const millimeter_t r, Vector2< millimeter_t > &lookaheadPoint)
	calculates the look-ahead point the robot follows. returns true if there is a valid point

Detailed Description

The controller takes a list of waypoints as a path to follow, then it calculates the optimal turning angle to stay on the path.

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Member Function Documentation

void BoBRobotics::Robots::PurePursuitController::setlookAheadDistance ( const millimeter_t distance )

sets the lookahead distance. Large values causes the car to cut corners, where small values makes the car follow the path more closely

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