com.acmerobotics.roadrunner.kinematics

Class Kinematics

com.acmerobotics.roadrunner.kinematics.Kinematics

public class Kinematics

A collection of methods for various kinematics-related tasks.

Field Summary

Fields

Modifier and Type	Field and Description
static Kinematics	INSTANCE A collection of methods for various kinematics-related tasks.

Method Summary

Modifier and Type	Method and Description
static java.util.List<java.lang.Double>	calculateMotorFeedforward(java.util.List<java.lang.Double> vels, java.util.List<java.lang.Double> accels, double kV, double kA, double kStatic) Computes the motor feedforward (i.e., open loop powers) for the given set of coefficients.
static double	calculateMotorFeedforward(double vel, double accel, double kV, double kA, double kStatic) Computes the motor feedforward (i.e., open loop power) for the given set of coefficients.
static Pose2d	calculatePoseError(Pose2d targetFieldPose, Pose2d currentFieldPose) Returns the error between targetFieldPose and currentFieldPose.
static Pose2d	fieldToRobotAcceleration(Pose2d fieldPose, Pose2d fieldVel, Pose2d fieldAccel) Returns the robot pose acceleration corresponding to fieldPose, fieldVel, and fieldAccel.
static Pose2d	fieldToRobotVelocity(Pose2d fieldPose, Pose2d fieldVel) Returns the robot pose velocity corresponding to fieldPose and fieldVel.
static Pose2d	relativeOdometryUpdate(Pose2d fieldPose, Pose2d robotPoseDelta) Performs a relative odometry update. Note: this assumes that the robot moves with constant velocity over the measurement interval.

Field Detail

INSTANCE

public static Kinematics INSTANCE

A collection of methods for various kinematics-related tasks.

Method Detail

fieldToRobotVelocity

@JvmStatic
 @NotNull
public static Pose2d fieldToRobotVelocity(@NotNull
                                                               Pose2d fieldPose,
                                                               @NotNull
                                                               Pose2d fieldVel)

Returns the robot pose velocity corresponding to fieldPose and fieldVel.

See Also:

fieldPose, fieldVel

fieldToRobotAcceleration

@JvmStatic
 @NotNull
public static Pose2d fieldToRobotAcceleration(@NotNull
                                                                   Pose2d fieldPose,
                                                                   @NotNull
                                                                   Pose2d fieldVel,
                                                                   @NotNull
                                                                   Pose2d fieldAccel)

Returns the robot pose acceleration corresponding to fieldPose, fieldVel, and fieldAccel.

See Also:

fieldPose, fieldVel, fieldAccel

calculatePoseError

@JvmStatic
 @NotNull
public static Pose2d calculatePoseError(@NotNull
                                                             Pose2d targetFieldPose,
                                                             @NotNull
                                                             Pose2d currentFieldPose)

Returns the error between targetFieldPose and currentFieldPose.

See Also:

targetFieldPose, currentFieldPose

calculateMotorFeedforward

@JvmStatic
 @NotNull
public static java.util.List<java.lang.Double> calculateMotorFeedforward(@NotNull
                                                                                              java.util.List<java.lang.Double> vels,
                                                                                              @NotNull
                                                                                              java.util.List<java.lang.Double> accels,
                                                                                              double kV,
                                                                                              double kA,
                                                                                              double kStatic)

Computes the motor feedforward (i.e., open loop powers) for the given set of coefficients.

calculateMotorFeedforward

@JvmStatic
public static double calculateMotorFeedforward(double vel,
                                                          double accel,
                                                          double kV,
                                                          double kA,
                                                          double kStatic)

Computes the motor feedforward (i.e., open loop power) for the given set of coefficients.

relativeOdometryUpdate

@JvmStatic
 @NotNull
public static Pose2d relativeOdometryUpdate(@NotNull
                                                                 Pose2d fieldPose,
                                                                 @NotNull
                                                                 Pose2d robotPoseDelta)

Performs a relative odometry update. Note: this assumes that the robot moves with constant velocity over the measurement interval.