HolonomicController

class HolonomicController(val axialPosGain: Double, val lateralPosGain: Double, val headingGain: Double, val axialVelGain: Double, val lateralVelGain: Double, val headingVelGain: Double) : RobotPosVelController

Proportional position-velocity controller for a holonomic robot.

Constructors

constructor(axialPosGain: Double, lateralPosGain: Double, headingGain: Double)

constructor(axialPosGain: Double, lateralPosGain: Double, headingGain: Double, axialVelGain: Double, lateralVelGain: Double, headingVelGain: Double)

open override fun compute(targetPose: Pose2dDual<Time>, actualPose: Pose2d, actualVelActual: PoseVelocity2d): PoseVelocity2dDual<Time>

Computes the velocity and acceleration command. The frame Target is the reference robot, and the frame Actual is the measured, physical robot.