text: import numpy as np
  
  
  class PurePursuitLaneController:
      """
      The Lane Controller can be used to compute control commands from pose estimations.
  
      The control commands are in terms of linear and angular velocity (v, omega). The input are errors in the relative
      pose of the Duckiebot in the current lane.
  
      """
  
      def __init__(self, parameters):
  
          self.parameters = parameters
  
      def update_parameters(self, parameters):
          """Updates parameters of LaneController object.
  
              Args:
                  parameters (:obj:`dict`): dictionary containing the new parameters for LaneController object.
          """
          self.parameters = parameters
  
  
  