com.acmerobotics.roadrunner.kinematics

Class Kinematics

com.acmerobotics.roadrunner.kinematics.Kinematics

public class Kinematics

A collection of methods for various kinematics-related tasks.

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

calculateFieldPoseError

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

Returns the error between targetFieldPose and currentFieldPose in the field frame.

See Also:

targetFieldPose, currentFieldPose

calculateRobotPoseError

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

Returns the error between targetFieldPose and currentFieldPose in the robot frame.

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.