SwerveKinematics
data class SwerveKinematics(val modules: <Error class: unknown class><<Error class: unknown class>>) : RobotKinematics<SwerveKinematics.SwerveWheelIncrements<*>, SwerveKinematics.SwerveWheelVelocities<*>>
Kinematics for a swerve drive train.
Parameters
modules
list of swerve module configurations (position and orientation)
Constructors
Types
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data class SwerveWheelIncrements<Param>(val deltas: <Error class: unknown class><<Error class: unknown class><Param>>)
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data class SwerveWheelVelocities<Param>(val states: <Error class: unknown class><<Error class: unknown class><Param>>)
Properties
Functions
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abstract fun <Param : DualParameter> forward(increments: SwerveKinematics.SwerveWheelIncrements<*>): Twist2dDual<Param>
Performs forward kinematics: computes the twist (pose delta) that occurred based on the given wheel increments.
abstract fun <Param : DualParameter> forward(velocities: SwerveKinematics.SwerveWheelVelocities<*>): PoseVelocity2dDual<Param>
Performs forward kinematics: computes the chassis velocity required to achieve the given wheel velocities.
open fun <Param> forward(increments: SwerveKinematics.SwerveWheelIncrements<*>): <Error class: unknown class><Param>
open fun <Param> forward(velocities: SwerveKinematics.SwerveWheelVelocities<*>): <Error class: unknown class><Param>
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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.
open fun <Param> inverse(velocity: <Error class: unknown class><Param>): SwerveKinematics.SwerveWheelVelocities<Param>