core/com.acmerobotics.roadrunner/DualNum/reparam

reparam

fun <NewParam> reparam(oldParam: DualNum<NewParam>): DualNum<NewParam>

Reparameterizes $(x, \frac{d x}{d u}, \frac{d^{2} x}{d u^{2}}, \dots, \frac{d^{n - 1} x}{d u^{n - 1}})$ into $(x, \frac{d x}{d t}, \frac{d^{2} x}{d t^{2}}, \dots, \frac{d^{n - 1} x}{d t^{n - 1}})$ using oldParam and the chain rule.

Parameters

oldParam

$(u, \frac{d u}{d t}, \frac{d^{2} u}{d t^{2}}, \dots, \frac{d^{n - 1} u}{d t^{n - 1}})$