core/gay.zharel.hermes.kinematics/RobotKinematics

RobotKinematics

interface RobotKinematics<in WI : WheelIncrements<*>, in 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(increments: WI): Twist2dDual<Param>

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

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

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

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

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