Kinematics

object Kinematics

A collection of methods for various kinematics-related tasks.

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