RamseteController

class RamseteController @JvmOverloads constructor( val trackWidth: Double, val zeta: Double = 0.7, val bBar: Double = 2.0)

Ramsete controller for tracking tank trajectories.

The standard Ramsete control law from equation $(5.12)$ of this paper is

(\begin{matrix} v \\ ω \end{matrix}) = (\begin{matrix} v_{d} \cos (θ_{d} - θ) + 2 ζ \sqrt{ω_{d}^{2} + b v_{d}^{2}} [(x_{d} - x) \cos θ + (y_{d} - y) \sin θ] \\ ω_{d} + b v_{d} \frac{\sin (θ_{d} - θ)}{θ_{d} - θ} [(x_{d} - x) \cos θ - (y_{d} - y) \sin θ] + 2 ζ \sqrt{ω_{d}^{2} + b v_{d}^{2}} (θ_{d} - θ) \end{matrix})

where

ζ \in (0, 1)

and

b > 0

. Since

b

has units, we substitute

b = \frac{\bar{b}}{l^{2}}

where

l

is the track width.

Constructors

constructor(trackWidth: Double, zeta: Double = 0.7, bBar: Double = 2.0)

val bBar: Double = 2.0

val zeta: Double = 0.7

fun compute( s: DualNum<Time>, targetPose: Pose2dDual<Arclength>, actualPose: Pose2d): PoseVelocity2dDual<Time>

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