core/gay.zharel.hermes.kinematics/RobotKinematics/forward

forward

abstract fun <Param : DualParameter> forward(increments: WI): Twist2dDual<Param>

Performs forward kinematics: computes the twist (pose delta) that occurred based on the given wheel increments.

Return

The resulting twist (change in pose)

Parameters

increments

The change in wheel positions

abstract fun <Param : DualParameter> forward(velocities: WV): PoseVelocity2dDual<Param>

Performs forward kinematics: computes the chassis velocity required to achieve the given wheel velocities.

Return

The resulting robot velocity

Parameters

velocities

The wheel velocities