• Swann Perarnau's avatar
    [refactor] Move control scheme to its own module · 246edb75
    Swann Perarnau authored
    The "control" part of the NRM is bound to change and become more complex
    in the near future, so move it in its own module.
    This refactor also introduce some controller logic. Control is split
    into 3 steps: planning, execution and updates. The goal is to use this
    new code organization as a way to abstract different control policies
    that could be implemented later.
    Note that we might at some point move into a "control manager" and a
    bunch of "policies" and "actuators", as a way of matching typical
    control theory vocabulary.
controller.py 2 KB