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MIT-REALM / neural_clbf

Toolkit for learning controllers based on robust control Lyapunov barrier functions
BSD 3-Clause "New" or "Revised" License
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Turtlebot #1

Closed bethlow closed 3 years ago

bethlow commented 3 years ago

This PR adds the turtlebot dynamics implementation and test suite to the neural_clbf systems. This was needed to add functionality for the TurtleBot3 as a learning controller in this toolkit. The implementation involves calculating each wheel's angular velocity in a separate tensor to allow linear and angular velocities as control input, along with the g matrix.