Follower (DIARC)

java.lang.Object

edu.tufts.hrilab.ava.Follower

public class Follower extends Object

Helper class to "track" target obstacle and calculate velocities for robot following behavior.

Constructor Summary

Constructors

Constructor

Description

Follower()
Method Summary

Modifier and Type

Method

Description

float[]

calculateFollowVelocity(org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> currPose, Obstacle target)

Use the robot pose and target obstacle location to calculate translation and rotation velocities.

Obstacle

getObstacleToFollow(org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> currPose, List<Obstacle> obstacles)

Select the obstacle to follow.

void

reset()

Clear the last target.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details
- Follower
  
  public Follower()
Method Details
- reset
  
  public void reset()
  
  Clear the last target.
- getObstacleToFollow
  
  public Obstacle getObstacleToFollow(org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> currPose, List<Obstacle> obstacles)
  
  Select the obstacle to follow.
  
  Returns:
- calculateFollowVelocity
  
  public float[] calculateFollowVelocity(org.apache.commons.lang3.tuple.Pair<javax.vecmath.Point3d,javax.vecmath.Quat4d> currPose, Obstacle target)
  
  Use the robot pose and target obstacle location to calculate translation and rotation velocities.
  
  Parameters:
  
  currPose - - current robot pose
  
  target - - target obstacle to move towards
  
  Returns:
  
  {transVelocity (m/s), rotVelocity(rad/s)}