core

0.1.0

core/com.acmerobotics.roadrunner.control/TankKinematics

TankKinematics

data class TankKinematics(val trackWidth: Double) : RobotKinematics<TankKinematics.TankWheelIncrements<*>, TankKinematics.TankWheelVelocities<*>>

Parameters

trackWidth

distance between wheels on opposite sides; see the diagram below Wheelbase and track width diagram

Constructors

constructor(trackWidth: Double)

Types

TankWheelIncrements

data class TankWheelIncrements<Param>(val left: DualNum<Param>, val right: DualNum<Param>) : WheelIncrements<Param>

TankWheelVelocities

data class TankWheelVelocities<Param>(val left: DualNum<Param>, val right: DualNum<Param>) : WheelVelocities<Param>

Properties

val trackWidth: Double

Functions

open override fun <Param> forward(w: TankKinematics.TankWheelIncrements<*>): Twist2dDual<Param>

open override fun <Param> inverse(t: PoseVelocity2dDual<Param>): TankKinematics.TankWheelVelocities<Param>

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