LTVUnicycleController.hpp File Reference

#include <Eigen/Core>
#include "wpi/math/geometry/Pose2d.hpp"
#include "wpi/math/kinematics/ChassisVelocities.hpp"
#include "wpi/math/trajectory/Trajectory.hpp"
#include "wpi/math/util/StateSpaceUtil.hpp"
#include "wpi/units/angular_velocity.hpp"
#include "wpi/units/math.hpp"
#include "wpi/units/time.hpp"
#include "wpi/units/velocity.hpp"
#include "wpi/util/SymbolExports.hpp"
#include "wpi/util/array.hpp"

Go to the source code of this file.

Classes
class	wpi::math::LTVUnicycleController
	The linear time-varying unicycle controller has a similar form to the LQR, but the model used to compute the controller gain is the nonlinear unicycle model linearized around the drivetrain's current state. More...

Namespaces
namespace	wpi
namespace	wpi::math