Class | Description |
---|---|
Kinematics |
A collection of methods for various kinematics-related tasks.
|
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.
|
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.
|
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.
|