| Interface | Description |
|---|---|
| Localizer |
Generic interface for estimating robot pose over time.
|
| Class | Description |
|---|---|
| Drive |
Abstraction for generic robot drive motion and localization. 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.
|
| Kinematics |
A collection of methods for various kinematics-related tasks.
|
| MecanumDrive |
This class provides the basic functionality of a mecanum drive using
class MecanumKinematics. |
| 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.
|
| SwerveDrive |
This class provides the basic functionality of a swerve drive using
class SwerveKinematics. |
| 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.
|
| TankDrive |
This class provides the basic functionality of a tank/differential drive using
class TankKinematics. |
| TankKinematics |
Tank drive kinematic equations based upon the unicycle model. All wheel positions and velocities are given in
(left, right) tuples. 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.
|
| ThreeTrackingWheelLocalizer |
Localizer based on three unpowered tracking omni wheels.
|
| TwoTrackingWheelLocalizer |
Localizer based on two unpowered tracking omni wheels and an orientation sensor.
|