The formula for gain in a ramsete controller requires angular velocity (w term):
However, the library I’m using to generate paths only provides
translational velocity, acceleration, and jerk
Interestingly, curvature is in units of “1/meters” . I found Reciprocal length - Wikipedia which links to curvature, but I did not get anywhere in that article. Is the curvature useful for the w term or should I calculate the rotational velocity from the wheel speeds?
It seems like you can integrate curvature to find your desired velocity given that it satisfies certain conditions. The paper I linked above is a really lengthy read, and I haven’t read the entire thing to give you a great answer, but you could start there.
Not sure if this is exactly what you’re looking for either but this article relates the curvature of a motion to acceleration which you could integrate to find velocity and try to convert to angular velocity somehow.
I’m no expert so take my opinion with a grain of salt but you could probably get your angular velocity by calculating the rate of change of your heading if you have a position tracking system, or with wheel speeds. The equation for curvature is k = 1/r so that’s where your 1/meter unit comes from.
I probably should’ve done a little more googling beforehand but you could use inverse curvature (which is the radius of your arc) to calculate angular velocity using linear velocity with the formula v = ω × r.