This function breaks the abstraction and provides way too much detail to the caller. Only a few of its members are actually used by TrackingPidLocalPlanner. The Controller should provide dedicated getters with a higher level of abstraction and proper names.
This will be a lot easier once #123 has been done so the entire state structure does not need to be passed to that function.
This function breaks the abstraction and provides way too much detail to the caller. Only a few of its members are actually used by
TrackingPidLocalPlanner. TheControllershould provide dedicated getters with a higher level of abstraction and proper names.This will be a lot easier once #123 has been done so the entire state structure does not need to be passed to that function.