Replace compute_ds with compute_desired_rate_of_change
ddengster opened this issue · comments
In code governing the motion of objects, we use compute_desired_rate_of_change and compute_ds for different objects.
compute_desired_rate_of_change follows the correct kinematics equations as far as I can tell, but we have some robots (slotcar/readonly) using compute_ds and may have associated values like velocity/acceleration/turning radius multiplier that need to be tweaked accordingly. Whoever gets to correcting this should look at other objects to see that nothing in our simulations goes wrong or looks awful.