All Implemented Interfaces:
```
public final class HolonomicController

                    
```
Proportional position-velocity controller for a holonomic robot.

Nested Class Summary

Nested Classes
Modifier and Type	Class	Description

Field Summary

Fields
Modifier and Type	Field	Description
`public final Double`	`axialPosGain`
`public final Double`	`lateralPosGain`
`public final Double`	`headingGain`
`public final Double`	`axialVelGain`
`public final Double`	`lateralVelGain`
`public final Double`	`headingVelGain`

Constructor Summary

Constructors
Constructor	Description
`HolonomicController(Double axialPosGain, Double lateralPosGain, Double headingGain)`
`HolonomicController(Double axialPosGain, Double lateralPosGain, Double headingGain, Double axialVelGain, Double lateralVelGain, Double headingVelGain)`

Enum Constant Summary

Enum Constants
Enum Constant	Description

Method Summary

Modifier and Type	Method	Description
`final PoseVelocity2dDual<Time>`	`compute(Pose2dDual<Time> targetPose, Pose2d actualPose, PoseVelocity2d actualVelActual)`	Computes the velocity and acceleration command.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

HolonomicController

HolonomicController(Double axialPosGain, Double lateralPosGain, Double headingGain)

HolonomicController

HolonomicController(Double axialPosGain, Double lateralPosGain, Double headingGain, Double axialVelGain, Double lateralVelGain, Double headingVelGain)

Method Detail
- compute
```
 final PoseVelocity2dDual<Time> compute(Pose2dDual<Time> targetPose, Pose2d actualPose, PoseVelocity2d actualVelActual)
```
  Computes the velocity and acceleration command. The frame Target is the reference robot, and the frame Actual is the measured, physical robot.
  
  Returns:
  
  velocity command in the actual frame

Class HolonomicController

Nested Class Summary

Field Summary

Constructor Summary

Enum Constant Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

HolonomicController

HolonomicController

Method Detail

compute