HolonomicController

All Implemented Interfaces:

com.automaducks.pond.subsystems.IHolonomicController , com.automaducks.pond.subsystems.ISubsystem
```
public class HolonomicController
 implements IHolonomicController
                    
```
Calculates holonomic actuation based on errors to the target.

Constructor Summary

Constructors
Constructor	Description
`HolonomicController(HolonomicControllerParams params, ILogger logger)`	Constructs a new instance of the HolonomicController class.

Method Summary

Modifier and Type	Method	Description
`Pose2D`	`calculate(PoseAndVelocity currentPoseVelocity, PoseAndVelocity targetPoseVelocity)`	Calculates actuation based on target pose and speed.
`static Collection<String>`	`getGraphKeys()`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - HolonomicController
```
HolonomicController(HolonomicControllerParams params, ILogger logger)
```
    Constructs a new instance of the HolonomicController class.
    
    Parameters:
    
    params - controller parameters.
    
    logger - telemetry logger reference.
- Method Detail
  - calculate
```
 Pose2D calculate(PoseAndVelocity currentPoseVelocity, PoseAndVelocity targetPoseVelocity)
```
    Calculates actuation based on target pose and speed.
    
    Parameters:
    
    currentPoseVelocity - current robot pose and velocity on Field Frame of Reference
    
    targetPoseVelocity - target robot pose and velocity on Field Frame of Reference.
  - getGraphKeys
```
 static Collection<String> getGraphKeys()
```