johnbryant1

#include <vector>
#include <assert.h>
#include <tf2/LinearMath/Vector3.h>
#include <emc/io.h>

#include <cstdlib>
#include <cmath>
#include <robo/sensing.h>
#include <robo/debugging.h>
#include <robo/settings.h>

johnbryant1

#include <vector>
#include <assert.h>
#include <tf2/LinearMath/Vector3.h>
#include <emc/io.h>

#include <cstdlib>
#include <cmath>
#include <robo/supervisor.h>
#include <robo/sensing.h>
#include <robo/debugging.h>

johnbryant1

#include <cstdlib>
#include <math.h>

#include <robo/potential.h>
#include <robo/debugging.h>
#include <robo/settings.h>


tf2::Vector3 repulsive_forces(emc::LaserData scan){
    float wo = W0;