ondrive

Twenty motion controllers behind one interface.

PID, pure pursuit, and Stanley for the straightforward cases; LQR, MPC, iLQR, and MPPI for the ones that need to look ahead. All twenty take the same pose and velocity types and emit the same body-frame twist, so swapping a controller for another one doesn't touch whatever code is calling it.

Builds on

• datapod
• stateup

Used by

Nothing else here depends on it yet.

Repository

github.com/robolibs/ondrive