Program Listing for File RamseteController.hpp

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#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