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 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