Class RamseteController

Class Documentation

class RamseteController

Class used as a RAMSETE non-linear, time-varying uncycle controller.

Public Functions

RamseteController(double b, double zeta)

Creates a new RAMSETE controller with the given gains

void computeControl(Paths::Trajectory &t, int idx, Math::Pose2D robotPose)

Computes the optimal trajectory following control

Parameters

  • t – The trajectory the robot is following

  • idx – The current index along the trajectory

  • robotPose – The current pose of the robot

const Units::Velocity &getV() const

Returns the computed velocity value

const Units::AngularVelocity &getOmega() const

Returns the computed angular velocity value