com.acmerobotics.roadrunner.drive

Class SwerveKinematics

com.acmerobotics.roadrunner.drive.SwerveKinematics

public class SwerveKinematics

Swerve 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.

Field Summary

Fields

Modifier and Type	Field and Description
static SwerveKinematics	INSTANCE Swerve 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<com.acmerobotics.roadrunner.Vector2d>	robotToModuleAccelerationVectors(Pose2d robotPoseAcceleration, double trackWidth, double wheelBase) Computes the acceleration vectors corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.
static java.util.List<com.acmerobotics.roadrunner.Vector2d>	robotToModuleAccelerationVectors(Pose2d robotPoseAcceleration, double trackWidth) Computes the acceleration vectors corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToModuleAngularVelocities(Pose2d robotPoseVelocity, Pose2d robotPoseAcceleration, double trackWidth, double wheelBase) Computes the module angular velocities corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToModuleAngularVelocities(Pose2d robotPoseVelocity, Pose2d robotPoseAcceleration, double trackWidth) Computes the module angular velocities corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToModuleOrientations(Pose2d robotPoseVelocity, double trackWidth, double wheelBase) Computes the module orientations (in radians) corresponding to robotPoseVelocity given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToModuleOrientations(Pose2d robotPoseVelocity, double trackWidth) Computes the module orientations (in radians) corresponding to robotPoseVelocity given the provided trackWidth and wheelBase.
static java.util.List<com.acmerobotics.roadrunner.Vector2d>	robotToModuleVelocityVectors(Pose2d robotPoseVelocity, double trackWidth, double wheelBase) Computes the wheel velocity vectors corresponding to robotPoseVelocity given the provided trackWidth and wheelBase.
static java.util.List<com.acmerobotics.roadrunner.Vector2d>	robotToModuleVelocityVectors(Pose2d robotPoseVelocity, double trackWidth) Computes the wheel velocity vectors corresponding to robotPoseVelocity given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToWheelAccelerations(Pose2d robotPoseVelocity, 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 robotPoseVelocity, 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, java.util.List<java.lang.Double> moduleOrientations, double trackWidth, double wheelBase) Computes the robot velocities corresponding to wheelVelocities, moduleOrientations, and the drive parameters.
static Pose2d	wheelToRobotVelocities(java.util.List<java.lang.Double> wheelVelocities, java.util.List<java.lang.Double> moduleOrientations, double trackWidth) Computes the robot velocities corresponding to wheelVelocities, moduleOrientations, and the drive parameters.

Field Detail

INSTANCE

public static SwerveKinematics INSTANCE

Swerve 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 Detail

robotToModuleVelocityVectors

public static java.util.List<com.acmerobotics.roadrunner.Vector2d> robotToModuleVelocityVectors(Pose2d robotPoseVelocity,
                                                                                                double trackWidth,
                                                                                                double wheelBase)

Computes the wheel velocity vectors 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

robotToModuleVelocityVectors

public static java.util.List<com.acmerobotics.roadrunner.Vector2d> robotToModuleVelocityVectors(Pose2d robotPoseVelocity,
                                                                                                double trackWidth)

Computes the wheel velocity vectors 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

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

robotToModuleOrientations

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

Computes the module orientations (in radians) 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

robotToModuleOrientations

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

Computes the module orientations (in radians) 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

robotToModuleAccelerationVectors

public static java.util.List<com.acmerobotics.roadrunner.Vector2d> robotToModuleAccelerationVectors(Pose2d robotPoseAcceleration,
                                                                                                    double trackWidth,
                                                                                                    double wheelBase)

Computes the acceleration vectors corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.

Parameters:

robotPoseAcceleration - 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

robotToModuleAccelerationVectors

public static java.util.List<com.acmerobotics.roadrunner.Vector2d> robotToModuleAccelerationVectors(Pose2d robotPoseAcceleration,
                                                                                                    double trackWidth)

Computes the acceleration vectors corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.

Parameters:

robotPoseAcceleration - 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 robotPoseVelocity,
                                                                         Pose2d robotPoseAcceleration,
                                                                         double trackWidth,
                                                                         double wheelBase)

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

Parameters:

robotPoseAcceleration - 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

robotToWheelAccelerations

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

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

Parameters:

robotPoseAcceleration - velocity of the robot in its reference frame

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

robotToModuleAngularVelocities

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

Computes the module angular velocities corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.

Parameters:

robotPoseAcceleration - 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

robotToModuleAngularVelocities

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

Computes the module angular velocities corresponding to robotPoseAcceleration given the provided trackWidth and wheelBase.

Parameters:

robotPoseAcceleration - velocity 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,
                                            java.util.List<java.lang.Double> moduleOrientations,
                                            double trackWidth,
                                            double wheelBase)

Computes the robot velocities corresponding to wheelVelocities, moduleOrientations, and the drive parameters.

Parameters:

wheelVelocities - wheel velocities (or wheel position deltas)

moduleOrientations - wheel orientations (in radians)

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,
                                            java.util.List<java.lang.Double> moduleOrientations,
                                            double trackWidth)

Computes the robot velocities corresponding to wheelVelocities, moduleOrientations, and the drive parameters.

Parameters:

wheelVelocities - wheel velocities (or wheel position deltas)

moduleOrientations - wheel orientations (in radians)

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