Classes
class	AccelerationCalculator

class	AngularCascadedPController

class	CascadedPController

class	ControllerNode

class	LinearCascadedPController

class	TrajectoryReader

Functions
def	applyMax (vector, max_vector)

def	msgToNumpy (msg)

def	worldToBody (orientation, vector)

Variables
	controller = ControllerNode()

Function Documentation

◆ applyMax()

def controller.applyMax	(	vector,
		max_vector
	)

Scales a vector to obey maximums

Parameters:
vector (np.array): The unscaled vector
max_vector (np.array): The maximum values for each element

Returns: 
np.array: Vector that obeys the maximums

Definition at line 63 of file controller.py.

◆ msgToNumpy()

def controller.msgToNumpy ( msg )

Definition at line 38 of file controller.py.

◆ worldToBody()

def controller.worldToBody	(	orientation,
		vector
	)

Rotates world-frame vector to body-frame

Rotates vector to body frame

Parameters:
orientation (np.array): The current orientation of the robot as a quaternion
vector (np.array): The 3D vector to rotate

Returns: 
np.array: 3 dimensional rotated vector

Definition at line 43 of file controller.py.

Variable Documentation

◆ controller

controller.controller = ControllerNode()

Definition at line 531 of file controller.py.

Classes