Core functionality and API of Road Runner.
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Controllers for generic control tasks including tracking motion profiles (not limited to 2D paths or trajectories). |
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Drive-specific interfaces that provide functionality for setting robot velocities and using positional feedback for localization. |
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A collection of path and trajectory followers for various drive types. |
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Core geometric types for representing robot state. |
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Kinematics for the various drive types. |
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Home of tracking wheel localizers. |
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Type hierarchy for representing 2D holonomic robot paths (x, y, and heading components). |
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A set of interpolators that describe how the robot's heading changes along a path. |
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Generic motion profiling featuring either dynamic constraints or jerk limiting. |
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Types for representing 2D robot trajectories, including time parametrizations of paths. |
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Specific constraints for trajectories and different drive types. |
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Basic regression analysis for tuning feedforward parameters. |
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Miscellaneous utilities. |