Parameters
constructor(axialGains: PosVelGain = PosVelGain(0.1), lateralGains: PosVelGain = PosVelGain(0.1), headingGains: PosVelGain = PosVelGain(0.1), maxWheelVel: Double = 50.0, minTransAccel: Double = -30.0, maxTransAccel: Double = 50.0, maxAngVel: Double = Math.PI, maxAngAccel: Double = Math.PI)