balet.cc File Reference

#include <math.h>
#include "trgen.h"
#include "balet.h"

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Functions
double	balet (const Pos &rp, const Pos &mp, const struct balet_params &k, Pos &speed)
	Controller for reference trajectory tracking.

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Function Documentation

double balet	(	const Pos &	rp,
		const Pos &	mp,
		const struct balet_params &	k,
		Pos &	speed
	)

Controller for reference trajectory tracking.

Parameters:

	rp	Requested position (and speeds)
	mp	Measured position (without speed)
	k	Controller constants
	speed	Output of the controller (forward and angular speed)

Returns:

distance from reference position (angle is not counted)

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