Crate lqr 

Structs

ClosestIndexError

LQRController

Generic LQR optimal feedback controller

Functions

compute_target

Compute a pose target between two different ones via linear interpolation

find_closest_indices

Finds the two closest indices to the current pose along with their respective Euclidean errors. The idea is that the lower index is behind the car and the upper index is in front of the car. The opposite is true when driving backwards which is controlled via the forwards parameter Return format is ((lower_index, lower_error), (upper_index, upper_error)