Added yaw rate to controller.py

CMU-Robotics-Club · Apr 3, 2024 · ad65c5d · ad65c5d
1 parent 9168155
commit ad65c5d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/rb_ws/src/buggy/scripts/auton/controller.py b/rb_ws/src/buggy/scripts/auton/controller.py
@@ -47,7 +47,7 @@ def __init__(self, start_index, buggy_name) -> None:
 
     @abstractmethod
     def compute_control(
-        self, current_pose: Pose, trajectory: Trajectory, current_speed: float
+        self, current_pose: Pose, trajectory: Trajectory, current_speed: float, yaw_rate: float
     ):
         """
         Computes the desired control output given the current state and reference trajectory