core/gay.zharel.hermes.control

Package-level declarations

Types

class HolonomicController(val axialGains: PosVelGain, val lateralGains: PosVelGain, val headingGains: PosVelGain) : RobotPosVelController

Proportional position-velocity controller for a holonomic robot. This is essentially a P controller on the robot's position and a P controller on its velocity.

LQRController

class LQRController : RobotPosVelController

A Linear Quadratic Regulator (LQR) for controlling a system modeled by state-space equations.

LTVUController

class LTVUController : RobotPosVelController

Linear Time-Varying Unicycle controller. This controller is similar to the LQR-based holonomic controller, but the unicycle model is linearized at a range of forward velocities. The feedback gains are scheduled according to the target robot velocity.

PosVelGain

data class PosVelGain @JvmOverloads constructor(var posGain: Double, var velGain: Double = 0.0)

Gains for the position-velocity controller.

RamseteController

class RamseteController @JvmOverloads constructor(val trackWidth: Double, val zeta: Double = 0.7, val bBar: Double = 2.0) : RobotPosVelController

RobotPosVelController

interface RobotPosVelController

Abstract controller for computing the velocity and acceleration commands for a robot.