.. _program_listing_file_src_LouLib_Controllers_RamseteController.hpp:

Program Listing for File RamseteController.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_LouLib_Controllers_RamseteController.hpp>` (``src/LouLib/Controllers/RamseteController.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef LOULIB_RAMSETECONTROLLER_HPP
   #define LOULIB_RAMSETECONTROLLER_HPP
   
   #include "../Paths/Trajectory.hpp"
   
   namespace LouLib {
       namespace Controllers {
   
           class RamseteController {
           private:
               double b;
               double zeta;
   
               Units::Velocity v = 0_mps;
               Units::AngularVelocity omega = 0_radps;
   
           public:
               RamseteController(double b, double zeta);
   
               void computeControl(Paths::Trajectory& t, int idx, Math::Pose2D robotPose);
   
               const Units::Velocity &getV() const;
   
               const Units::AngularVelocity &getOmega() const;
   
           };
   
       } // LouLib
   } // Controllers
   
   #endif //LOULIB_RAMSETECONTROLLER_HPP