Todo List

Member IPDFF_modelTune (PIDBase *self, const PT1Model *const model, float w)

Document the binomial autotuning (pole-placement)

Member IPFF_modelTune (PIDBase *self, const PT1Model *const model, float w)

Document the binomial autotuning (pole-placement)

Class labust::control::ConfigureAxesPolicy

Reverse the disable/enable axes logic at one time ?

Class labust::control::HLManager

Look into ROS actionlib to replace this in a more generic resuable way ?

Add controller registration and checking that neccessary controllers run.

Consider making everything async ?

Extract and generalize the path generation (Bezier curves from NURC)

Add support for external surge selection

Add support for external radius selection

Member PIDBase

Use doxygen grouping and reduce size

Document difference between auto-windup and ext-windup

Rename lastError, lastState to yk_1, ek_1,ek_2 etc.

Member PIDFF_modelTune (PIDBase *self, const PT1Model *const model, float w)

Document the binomial autotuning (pole-placement)

Member PIFF_modelTune (PIDBase *self, const PT1Model *const model, float w)

Document the binomial autotuning (pole-placement)