RobotPosVelController
interface RobotPosVelController
Abstract controller for computing the velocity and acceleration commands for a robot.
Inheritors
Functions
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abstract 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.