core/com.acmerobotics.roadrunner.control/RobotKinematics

RobotKinematics

interface RobotKinematics<in WI : WheelIncrements<*>, out WV : WheelVelocities<*>>

Represents the kinematics of a robot drive train, providing methods for inverse kinematics and velocity constraints based on wheel speeds.

Inheritors

Functions

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abstract fun <Param : DualParameter> forward(w: WI): Twist2dDual<Param>
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abstract fun <Param : DualParameter> inverse(t: PoseVelocity2dDual<Param>): WheelVelocities<Param>

Performs inverse kinematics: computes wheel velocities required to achieve the desired robot velocity.