0.2.1

core/com.acmerobotics.roadrunner.control/SwerveKinematics

SwerveKinematics

data class SwerveKinematics(val modules: <Error class: unknown class><<Error class: unknown class>>) : RobotKinematics<SwerveKinematics.SwerveWheelIncrements<*>, SwerveKinematics.SwerveWheelVelocities<*>>

Parameters

modules

list of swerve module configurations (position and orientation)

Constructors

SwerveKinematics

constructor(modules: <Error class: unknown class><<Error class: unknown class>>)

Types

SwerveWheelIncrements

data class SwerveWheelIncrements<Param>(val deltas: <Error class: unknown class><<Error class: unknown class><Param>>)

SwerveWheelVelocities

data class SwerveWheelVelocities<Param>(val states: <Error class: unknown class><<Error class: unknown class><Param>>)

Properties

val modules: <Error class: unknown class><<Error class: unknown class>>

Functions

abstract fun <Param : DualParameter> forward(w: SwerveKinematics.SwerveWheelIncrements<*>): Twist2dDual<Param>

open fun <Param> forward(w: SwerveKinematics.SwerveWheelIncrements<*>): <Error class: unknown class><Param>

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

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

open fun <Param> inverse(t: <Error class: unknown class><Param>): SwerveKinematics.SwerveWheelVelocities<Param>