From ad65c5dec77f737d68f2a84456bee83070da3c39 Mon Sep 17 00:00:00 2001 From: Mikhail Khrenov Date: Wed, 3 Apr 2024 17:05:10 -0400 Subject: [PATCH] Added yaw rate to controller.py --- rb_ws/src/buggy/scripts/auton/controller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rb_ws/src/buggy/scripts/auton/controller.py b/rb_ws/src/buggy/scripts/auton/controller.py index 08be1013..8436dc27 100755 --- 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