MPC application in an omnidirectional robot

[RodrigoFBernardo]

I'm applying MPC to an omnidirectional robot, but I'm having some questions:

1- In the robot configuration file it has a function (getTwistFromControl) where it sets the robot to move in x with a certain speed u[0], according to an angle u[1]. I need to decompose the speed in vx and vy in the case of an omnidirectional robot v = sqrt(vx^2+vy^2).

I am confused how to decompose the speed coming from the controller into vx and vy

The function getTwistFromControl -> Convert the control vector to a twist message (containing velocity information)