remove auto when type is unclear
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@ -10,8 +10,8 @@ class RamseteTracker : public TrajectoryTracker {
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TrajectoryTrackerVelocityOutput CalculateState(const TimedIterator<Pose2dWithCurvature>& iterator,
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TrajectoryTrackerVelocityOutput CalculateState(const TimedIterator<Pose2dWithCurvature>& iterator,
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const Pose2d& robot_pose) const override {
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const Pose2d& robot_pose) const override {
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const auto reference_state = iterator.CurrentState().state;
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const TimedEntry<Pose2dWithCurvature> reference_state = iterator.CurrentState().state;
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const auto error = reference_state.State().Pose().InFrameOfReferenceOf(robot_pose);
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const Pose2d error = reference_state.State().Pose().InFrameOfReferenceOf(robot_pose);
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const auto vd = reference_state.Velocity();
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const auto vd = reference_state.Velocity();
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const auto wd = vd * reference_state.State().Curvature();
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const auto wd = vd * reference_state.State().Curvature();
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