Reorganizing code. Pending items - pure pursuit controller has oscillating velocity, removing unused code for longitudinal planning

Author: animeshsingh98

.gitignore

@@ -32,6 +32,7 @@ share/python-wheels/
 .installed.cfg
 *.egg
 MANIFEST
+.idea/
 
 # PyInstaller
 #  Usually these files are written by a python script from a template
@@ -134,6 +135,7 @@ venv/
 ENV/
 env.bak/
 venv.bak/
+*.DS_Store
 
 # Spyder project settings
 .spyderproject

GEMstack/mathutils/quadratic_equation.py

@@ -0,0 +1,11 @@
+import math
+
+def quad_root(a : float, b : float, c : float) -> float:
+    x1 = (-b + max(0,(b**2 - 4*a*c))**0.5)/(2*a)
+    x2 = (-b - max(0,(b**2 - 4*a*c))**0.5)/(2*a)
+
+    if math.isnan(x1): x1 = 0
+    if math.isnan(x2): x2 = 0
+
+    valid_roots = [n for n in [x1, x2] if not type(n) is complex]
+    return valid_roots