fix diffdrive voltage constraint on tight turns w/ zero velocity #2341
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calcmogul
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Feb 12, 2020
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I still don't understand what this is doing, so I can't verify its correctness. If we have good unit test coverage, we could merge as-is so it's at least less broken for 2020 (there could be more bugs hiding, idk).
For 2021, I think we could invert the feedforward model for a differential drive to obtain xdot directly from points on the boundary of the input constraint polytope rather than solving for this stuff explicitly.
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includes tests