Copyright 2019 Google LLC

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

    https://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

This code is an implementation of kinematic and dynamic calculations and control for a Holomni powered caster vehicle. The work here is based on research conducted at the Stanford CS Robotics Lab using the XR4000 robot developed at Nomadic Technologies, Inc. In 2013, Holomni, LLC. was purchased by Google LLC.

Reference: http://robotics.stanford.edu/~rah/ http://nomadic.sourceforge.net/

This is not an officially supported Google product.