search

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity
Apache License 2.0
130 stars 37 forks source link

Refactored last Controller functions(). #103

Closed lewie-donckers closed 2 years ago

lewie-donckers commented 2 years ago

Next PR to fix #97 : refactored Controller::update(), Controller::update_with_limits() and Controller::mpc_based_max_vel() to use tf2 types.