Interface | Description |
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Localizer |
Generic interface for estimating robot pose over time.
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Class | Description |
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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.
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Kinematics |
A collection of methods for various kinematics-related tasks.
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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.
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ThreeTrackingWheelLocalizer |
Localizer based on three unpowered tracking omni wheels.
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TwoTrackingWheelLocalizer |
Localizer based on two unpowered tracking omni wheels and an orientation sensor.
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