RamseteController.h

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//
// Created by ben332004 on 3/13/23.
//
 
#ifndef TR_EMBEDDED_RAMSETECONTROLLER_H
#define TR_EMBEDDED_RAMSETECONTROLLER_H
 
#include <algorithms/ChassisSpeeds.h>
#include <algorithms/Pose2D.h>
#include <math.h>
 
class RamseteController {
private:
    double b;
    double zeta;
 
    double sinc(double x);
 
public:
    RamseteController();
 
    ChassisSpeeds calculate(Pose2D currentPose, Pose2D desiredPose, double desiredLinearVelocity, double desiredAngularVelocity);
};
 
 
#endif //TR_EMBEDDED_RAMSETECONTROLLER_H