core/com.acmerobotics.roadrunner.control/RobotKinematics/inverse

inverse

abstract fun <Param : DualParameter> inverse(t: PoseVelocity2dDual<Param>): WheelVelocities<Param>

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

Return

Wheel velocities.

Parameters

t

Robot velocity in the robot's local frame.