core

0.1.0

core/com.acmerobotics.roadrunner.control/SwerveKinematics

SwerveKinematics

data class SwerveKinematics(val modules: List<Vector2d>) : RobotKinematics<SwerveKinematics.SwerveWheelIncrements<*>, SwerveKinematics.SwerveWheelVelocities<*>>

Parameters

modules

list of swerve module configurations (position and orientation)

Constructors

SwerveKinematics

constructor(modules: List<Vector2d>)

Types

SwerveWheelIncrements

data class SwerveWheelIncrements<Param>(val deltas: List<SwerveModuleIncrements<Param>>) : WheelIncrements<Param>

SwerveWheelVelocities

data class SwerveWheelVelocities<Param>(val states: List<SwerveModuleState<Param>>) : WheelVelocities<Param>

Properties

val modules: List<Vector2d>

Functions

open override fun <Param> forward(w: SwerveKinematics.SwerveWheelIncrements<*>): Twist2dDual<Param>

open override fun <Param> inverse(t: PoseVelocity2dDual<Param>): SwerveKinematics.SwerveWheelVelocities<Param>

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