Package 

Class HolonomicController

  • All Implemented Interfaces:

    
    public final class HolonomicController
    
                        

    Proportional position-velocity controller for a holonomic robot.

    • Constructor Detail

      • HolonomicController

        HolonomicController(Double axialPosGain, Double lateralPosGain, Double headingGain)
    • Method Detail

      • compute

         final Twist2dDual<Time> compute(Pose2dDual<Time> targetPose, Pose2d actualPose, Twist2d actualVelActual)

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