com.acmerobotics.roadrunner.drive

Class MecanumKinematics

com.acmerobotics.roadrunner.drive.MecanumKinematics

public class MecanumKinematics

Mecanum drive kinematic equations. All wheel positions and velocities are given starting with front left and proceeding counter-clockwise (i.e., front left, rear left, rear right, front right). Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

This paper provides a motivated derivation.

See Also:

This paper

Field Summary

Fields

Modifier and Type	Field and Description
static MecanumKinematics	INSTANCE Mecanum drive kinematic equations. All wheel positions and velocities are given starting with front left and proceeding counter-clockwise (i.e., front left, rear left, rear right, front right). Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

Method Summary

Modifier and Type	Method and Description
static java.util.List<java.lang.Double>	robotToWheelAccelerations(Pose2d robotPoseAcceleration, double trackWidth, double wheelBase) Computes the wheel accelerations corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToWheelAccelerations(Pose2d robotPoseAcceleration, double trackWidth) Computes the wheel accelerations corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToWheelVelocities(Pose2d robotPoseVelocity, double trackWidth, double wheelBase) Computes the wheel velocities corresponding to robotPoseVelocity given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToWheelVelocities(Pose2d robotPoseVelocity, double trackWidth) Computes the wheel velocities corresponding to robotPoseVelocity given the provided trackWidth and wheelBase.
static Pose2d	wheelToRobotVelocities(java.util.List<java.lang.Double> wheelVelocities, double trackWidth, double wheelBase) Computes the robot velocity corresponding to wheelVelocities and the given drive parameters.
static Pose2d	wheelToRobotVelocities(java.util.List<java.lang.Double> wheelVelocities, double trackWidth) Computes the robot velocity corresponding to wheelVelocities and the given drive parameters.

Field Detail

INSTANCE

public static MecanumKinematics INSTANCE

Mecanum drive kinematic equations. All wheel positions and velocities are given starting with front left and proceeding counter-clockwise (i.e., front left, rear left, rear right, front right). Robot poses are specified in a coordinate system with positive x pointing forward, positive y pointing left, and positive heading measured counter-clockwise from the x-axis.

This paper provides a motivated derivation.

See Also:

This paper

Method Detail

robotToWheelVelocities

public static java.util.List<java.lang.Double> robotToWheelVelocities(Pose2d robotPoseVelocity,
                                                                      double trackWidth,
                                                                      double wheelBase)

Computes the wheel velocities corresponding to robotPoseVelocity given the provided trackWidth and wheelBase.

Parameters:

robotPoseVelocity - velocity of the robot in its reference frame

trackWidth - lateral distance between pairs of wheels on different sides of the robot

wheelBase - distance between pairs of wheels on the same side of the robot

robotToWheelVelocities

public static java.util.List<java.lang.Double> robotToWheelVelocities(Pose2d robotPoseVelocity,
                                                                      double trackWidth)

Computes the wheel velocities corresponding to robotPoseVelocity given the provided trackWidth and wheelBase.

Parameters:

robotPoseVelocity - velocity of the robot in its reference frame

trackWidth - lateral distance between pairs of wheels on different sides of the robot

robotToWheelAccelerations

public static java.util.List<java.lang.Double> robotToWheelAccelerations(Pose2d robotPoseAcceleration,
                                                                         double trackWidth,
                                                                         double wheelBase)

Computes the wheel accelerations corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.

Parameters:

robotPoseAcceleration - acceleration of the robot in its reference frame

trackWidth - lateral distance between pairs of wheels on different sides of the robot

wheelBase - distance between pairs of wheels on the same side of the robot

robotToWheelAccelerations

public static java.util.List<java.lang.Double> robotToWheelAccelerations(Pose2d robotPoseAcceleration,
                                                                         double trackWidth)

Computes the wheel accelerations corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.

Parameters:

robotPoseAcceleration - acceleration of the robot in its reference frame

trackWidth - lateral distance between pairs of wheels on different sides of the robot

wheelToRobotVelocities

public static Pose2d wheelToRobotVelocities(java.util.List<java.lang.Double> wheelVelocities,
                                            double trackWidth,
                                            double wheelBase)

Computes the robot velocity corresponding to wheelVelocities and the given drive parameters.

Parameters:

wheelVelocities - wheel velocities (or wheel position deltas)

trackWidth - lateral distance between pairs of wheels on different sides of the robot

wheelBase - distance between pairs of wheels on the same side of the robot

wheelToRobotVelocities

public static Pose2d wheelToRobotVelocities(java.util.List<java.lang.Double> wheelVelocities,
                                            double trackWidth)

Computes the robot velocity corresponding to wheelVelocities and the given drive parameters.

Parameters:

wheelVelocities - wheel velocities (or wheel position deltas)

trackWidth - lateral distance between pairs of wheels on different sides of the robot