Package com.acmerobotics.roadrunner
Class RamseteController
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public final class RamseteController
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Constructor Summary
Constructors Constructor Description RamseteController(Double trackWidth, Double zeta, Double bBar)RamseteController(Double trackWidth, Double zeta)RamseteController(Double trackWidth)
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Method Summary
Modifier and Type Method Description final PoseVelocity2dDual<Time>compute(DualNum<Time> s, Pose2dDual<Arclength> targetPose, Pose2d actualPose)Computes the velocity and acceleration command. -
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Method Detail
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compute
final PoseVelocity2dDual<Time> compute(DualNum<Time> s, Pose2dDual<Arclength> targetPose, Pose2d actualPose)
Computes the velocity and acceleration command. The frame
Targetis the reference robot, and the frameActualis the measured, physical robot.- Returns:
velocity command in the actual frame
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