com.acmerobotics.roadrunner.kinematics

Class SwerveKinematics

com.acmerobotics.roadrunner.kinematics.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.geometry.Vector2d>	robotToModuleAccelerationVectors(Pose2d robotAccel, double trackWidth, double wheelBase) Computes the acceleration vectors corresponding to robotAccel given the provided trackWidth and wheelBase.
static java.util.List<com.acmerobotics.roadrunner.geometry.Vector2d>	robotToModuleAccelerationVectors(Pose2d robotAccel, double trackWidth) Computes the acceleration vectors corresponding to robotAccel given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToModuleAngularVelocities(Pose2d robotVel, Pose2d robotAccel, double trackWidth, double wheelBase) Computes the module angular velocities corresponding to robotAccel given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToModuleAngularVelocities(Pose2d robotVel, Pose2d robotAccel, double trackWidth) Computes the module angular velocities corresponding to robotAccel given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToModuleOrientations(Pose2d robotVel, double trackWidth, double wheelBase) Computes the module orientations (in radians) corresponding to robotVel given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToModuleOrientations(Pose2d robotVel, double trackWidth) Computes the module orientations (in radians) corresponding to robotVel given the provided trackWidth and wheelBase.
static java.util.List<com.acmerobotics.roadrunner.geometry.Vector2d>	robotToModuleVelocityVectors(Pose2d robotVel, double trackWidth, double wheelBase) Computes the wheel velocity vectors corresponding to robotVel given the provided trackWidth and wheelBase.
static java.util.List<com.acmerobotics.roadrunner.geometry.Vector2d>	robotToModuleVelocityVectors(Pose2d robotVel, double trackWidth) Computes the wheel velocity vectors corresponding to robotVel given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToWheelAccelerations(Pose2d robotVel, Pose2d robotAccel, double trackWidth, double wheelBase) Computes the wheel accelerations corresponding to robotAccel given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToWheelAccelerations(Pose2d robotVel, Pose2d robotAccel, double trackWidth) Computes the wheel accelerations corresponding to robotAccel given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToWheelVelocities(Pose2d robotVel, double trackWidth, double wheelBase) Computes the wheel velocities corresponding to robotVel given the provided trackWidth and wheelBase.
static java.util.List<java.lang.Double>	robotToWheelVelocities(Pose2d robotVel, double trackWidth) Computes the wheel velocities corresponding to robotVel 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

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<com.acmerobotics.roadrunner.geometry.Vector2d> robotToModuleVelocityVectors(@NotNull
                                                                                                                                             Pose2d robotVel,
                                                                                                                                             double trackWidth,
                                                                                                                                             double wheelBase)

Computes the wheel velocity vectors corresponding to robotVel given the provided trackWidth and wheelBase.

Parameters:

robotVel - 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

See Also:

robotVel, trackWidth, wheelBase

robotToModuleVelocityVectors

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<com.acmerobotics.roadrunner.geometry.Vector2d> robotToModuleVelocityVectors(@NotNull
                                                                                                                                             Pose2d robotVel,
                                                                                                                                             double trackWidth)

Computes the wheel velocity vectors corresponding to robotVel given the provided trackWidth and wheelBase.

Parameters:

robotVel - velocity of the robot in its reference frame

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

See Also:

robotVel, trackWidth, wheelBase

robotToWheelVelocities

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<java.lang.Double> robotToWheelVelocities(@NotNull
                                                                                                          Pose2d robotVel,
                                                                                                          double trackWidth,
                                                                                                          double wheelBase)

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

Parameters:

robotVel - 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

See Also:

robotVel, trackWidth, wheelBase

robotToWheelVelocities

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<java.lang.Double> robotToWheelVelocities(@NotNull
                                                                                                          Pose2d robotVel,
                                                                                                          double trackWidth)

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

Parameters:

robotVel - velocity of the robot in its reference frame

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

See Also:

robotVel, trackWidth, wheelBase

robotToModuleOrientations

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<java.lang.Double> robotToModuleOrientations(@NotNull
                                                                                                             Pose2d robotVel,
                                                                                                             double trackWidth,
                                                                                                             double wheelBase)

Computes the module orientations (in radians) corresponding to robotVel given the provided trackWidth and wheelBase.

Parameters:

robotVel - 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

See Also:

robotVel, trackWidth, wheelBase

robotToModuleOrientations

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<java.lang.Double> robotToModuleOrientations(@NotNull
                                                                                                             Pose2d robotVel,
                                                                                                             double trackWidth)

Computes the module orientations (in radians) corresponding to robotVel given the provided trackWidth and wheelBase.

Parameters:

robotVel - velocity of the robot in its reference frame

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

See Also:

robotVel, trackWidth, wheelBase

robotToModuleAccelerationVectors

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<com.acmerobotics.roadrunner.geometry.Vector2d> robotToModuleAccelerationVectors(@NotNull
                                                                                                                                                 Pose2d robotAccel,
                                                                                                                                                 double trackWidth,
                                                                                                                                                 double wheelBase)

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

Parameters:

robotAccel - 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

See Also:

robotAccel, trackWidth, wheelBase

robotToModuleAccelerationVectors

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<com.acmerobotics.roadrunner.geometry.Vector2d> robotToModuleAccelerationVectors(@NotNull
                                                                                                                                                 Pose2d robotAccel,
                                                                                                                                                 double trackWidth)

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

Parameters:

robotAccel - velocity of the robot in its reference frame

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

See Also:

robotAccel, trackWidth, wheelBase

robotToWheelAccelerations

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<java.lang.Double> robotToWheelAccelerations(@NotNull
                                                                                                             Pose2d robotVel,
                                                                                                             @NotNull
                                                                                                             Pose2d robotAccel,
                                                                                                             double trackWidth,
                                                                                                             double wheelBase)

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

Parameters:

robotAccel - 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

See Also:

robotAccel, trackWidth, wheelBase

robotToWheelAccelerations

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<java.lang.Double> robotToWheelAccelerations(@NotNull
                                                                                                             Pose2d robotVel,
                                                                                                             @NotNull
                                                                                                             Pose2d robotAccel,
                                                                                                             double trackWidth)

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

Parameters:

robotAccel - velocity of the robot in its reference frame

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

See Also:

robotAccel, trackWidth, wheelBase

robotToModuleAngularVelocities

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<java.lang.Double> robotToModuleAngularVelocities(@NotNull
                                                                                                                  Pose2d robotVel,
                                                                                                                  @NotNull
                                                                                                                  Pose2d robotAccel,
                                                                                                                  double trackWidth,
                                                                                                                  double wheelBase)

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

Parameters:

robotAccel - 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

See Also:

robotAccel, trackWidth, wheelBase

robotToModuleAngularVelocities

@JvmStatic
 @JvmOverloads
 @NotNull
public static java.util.List<java.lang.Double> robotToModuleAngularVelocities(@NotNull
                                                                                                                  Pose2d robotVel,
                                                                                                                  @NotNull
                                                                                                                  Pose2d robotAccel,
                                                                                                                  double trackWidth)

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

Parameters:

robotAccel - velocity of the robot in its reference frame

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

See Also:

robotAccel, trackWidth, wheelBase

wheelToRobotVelocities

@JvmStatic
 @JvmOverloads
 @NotNull
public static Pose2d wheelToRobotVelocities(@NotNull
                                                                                java.util.List<java.lang.Double> wheelVelocities,
                                                                                @NotNull
                                                                                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

See Also:

wheelVelocities, moduleOrientations

wheelToRobotVelocities

@JvmStatic
 @JvmOverloads
 @NotNull
public static Pose2d wheelToRobotVelocities(@NotNull
                                                                                java.util.List<java.lang.Double> wheelVelocities,
                                                                                @NotNull
                                                                                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

See Also:

wheelVelocities, moduleOrientations