com.acmerobotics.roadrunner.drive

Class Kinematics

com.acmerobotics.roadrunner.drive.Kinematics

public class Kinematics

A collection of methods for various kinematics-related tasks.

Field Summary

Fields

Modifier and Type	Field and Description
static Kinematics	INSTANCE A collection of methods for various kinematics-related tasks.

Method Summary

Modifier and Type	Method and Description
static java.util.List<java.lang.Double>	calculateMotorFeedforward(java.util.List<java.lang.Double> velocities, java.util.List<java.lang.Double> accelerations, double kV, double kA, double kStatic) Computes the motor feedforwards (i.e., open loop powers) for the given set of coefficients.
static double	calculateMotorFeedforward(double velocity, double acceleration, double kV, double kA, double kStatic) Computes the motor feedforward (i.e., open loop power) for the given set of coefficients.
static Pose2d	calculatePoseError(Pose2d targetFieldPose, Pose2d actualFieldPose) Returns the error between targetFieldPose and actualFieldPose.
static Pose2d	fieldToRobotPose(Pose2d fieldPose) Returns the robot pose corresponding to fieldPose.
static Pose2d	fieldToRobotPoseAcceleration(Pose2d fieldPose, Pose2d fieldPoseVelocity, Pose2d fieldPoseAcceleration) Returns the robot pose acceleration corresponding to fieldPose, fieldPoseVelocity, and fieldPoseAcceleration.
static Pose2d	fieldToRobotPoseVelocity(Pose2d fieldPose, Pose2d fieldPoseVelocity) Returns the robot pose velocity corresponding to fieldPose and fieldPoseVelocity.
static Pose2d	relativeOdometryUpdate(Pose2d fieldPose, Pose2d robotPoseDelta) Performs a relative odometry update. Note: this assumes that the robot moves with constant velocity over the measurement interval.

Field Detail

INSTANCE

public static Kinematics INSTANCE

A collection of methods for various kinematics-related tasks.

Method Detail

fieldToRobotPose

public static Pose2d fieldToRobotPose(Pose2d fieldPose)

Returns the robot pose corresponding to fieldPose.

fieldToRobotPoseVelocity

public static Pose2d fieldToRobotPoseVelocity(Pose2d fieldPose,
                                              Pose2d fieldPoseVelocity)

Returns the robot pose velocity corresponding to fieldPose and fieldPoseVelocity.

fieldToRobotPoseAcceleration

public static Pose2d fieldToRobotPoseAcceleration(Pose2d fieldPose,
                                                  Pose2d fieldPoseVelocity,
                                                  Pose2d fieldPoseAcceleration)

Returns the robot pose acceleration corresponding to fieldPose, fieldPoseVelocity, and fieldPoseAcceleration.

calculatePoseError

public static Pose2d calculatePoseError(Pose2d targetFieldPose,
                                        Pose2d actualFieldPose)

Returns the error between targetFieldPose and actualFieldPose.

calculateMotorFeedforward

public static java.util.List<java.lang.Double> calculateMotorFeedforward(java.util.List<java.lang.Double> velocities,
                                                                         java.util.List<java.lang.Double> accelerations,
                                                                         double kV,
                                                                         double kA,
                                                                         double kStatic)

Computes the motor feedforwards (i.e., open loop powers) for the given set of coefficients.

calculateMotorFeedforward

public static double calculateMotorFeedforward(double velocity,
                                               double acceleration,
                                               double kV,
                                               double kA,
                                               double kStatic)

Computes the motor feedforward (i.e., open loop power) for the given set of coefficients.

relativeOdometryUpdate

public static Pose2d relativeOdometryUpdate(Pose2d fieldPose,
                                            Pose2d robotPoseDelta)

Performs a relative odometry update. Note: this assumes that the robot moves with constant velocity over the measurement interval.