public class 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.
This paper provides a motivated derivation.
public static MecanumKinematics INSTANCE
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.
This paper provides a motivated derivation.
@JvmStatic
@JvmOverloads
@NotNull
public static java.util.List<java.lang.Double> robotToWheelVelocities(@NotNull
Pose2d robotVel,
double trackWidth,
double wheelBase,
double lateralMultiplier)
Computes the wheel velocities corresponding to robotVel given the provided trackWidth and
wheelBase.
robotVel - velocity of the robot in its reference frametrackWidth - lateral distance between pairs of wheels on different sides of the robotwheelBase - distance between pairs of wheels on the same side of the robotlateralMultiplier - multiplicative gain to adjust for systematic, proportional lateral error (gain greaterthan 1.0 corresponds to overcompensation).robotVel,
trackWidth,
wheelBase@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.
robotVel - velocity of the robot in its reference frametrackWidth - lateral distance between pairs of wheels on different sides of the robotwheelBase - distance between pairs of wheels on the same side of the robotrobotVel,
trackWidth,
wheelBase@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.
robotVel - velocity of the robot in its reference frametrackWidth - lateral distance between pairs of wheels on different sides of the robotrobotVel,
trackWidth,
wheelBase@JvmStatic
@JvmOverloads
@NotNull
public static java.util.List<java.lang.Double> robotToWheelAccelerations(@NotNull
Pose2d robotAccel,
double trackWidth,
double wheelBase,
double lateralMultiplier)
Computes the wheel accelerations corresponding to robotAccel given the provided trackWidth and
wheelBase.
robotAccel - acceleration of the robot in its reference frametrackWidth - lateral distance between pairs of wheels on different sides of the robotwheelBase - distance between pairs of wheels on the same side of the robotlateralMultiplier - multiplicative gain to adjust for systematic, proportional lateral error (gain greaterthan 1.0 corresponds to overcompensation).robotAccel,
trackWidth,
wheelBase@JvmStatic
@JvmOverloads
@NotNull
public static java.util.List<java.lang.Double> robotToWheelAccelerations(@NotNull
Pose2d robotAccel,
double trackWidth,
double wheelBase)
Computes the wheel accelerations corresponding to robotAccel given the provided trackWidth and
wheelBase.
robotAccel - acceleration of the robot in its reference frametrackWidth - lateral distance between pairs of wheels on different sides of the robotwheelBase - distance between pairs of wheels on the same side of the robotrobotAccel,
trackWidth,
wheelBase@JvmStatic
@JvmOverloads
@NotNull
public static java.util.List<java.lang.Double> robotToWheelAccelerations(@NotNull
Pose2d robotAccel,
double trackWidth)
Computes the wheel accelerations corresponding to robotAccel given the provided trackWidth and
wheelBase.
robotAccel - acceleration of the robot in its reference frametrackWidth - lateral distance between pairs of wheels on different sides of the robotrobotAccel,
trackWidth,
wheelBase@JvmStatic @JvmOverloads @NotNull public static Pose2d wheelToRobotVelocities(@NotNull java.util.List<java.lang.Double> wheelVelocities, double trackWidth, double wheelBase, double lateralMultiplier)
Computes the robot velocity corresponding to wheelVelocities and the given drive parameters.
wheelVelocities - wheel velocities (or wheel position deltas)trackWidth - lateral distance between pairs of wheels on different sides of the robotwheelBase - distance between pairs of wheels on the same side of the robotlateralMultiplier - multiplicative gain to adjust for systematic, proportional lateral error (gain greaterthan 1.0 corresponds to overcompensation).wheelVelocities@JvmStatic @JvmOverloads @NotNull public static Pose2d wheelToRobotVelocities(@NotNull java.util.List<java.lang.Double> wheelVelocities, double trackWidth, double wheelBase)
Computes the robot velocity corresponding to wheelVelocities and the given drive parameters.
wheelVelocities - wheel velocities (or wheel position deltas)trackWidth - lateral distance between pairs of wheels on different sides of the robotwheelBase - distance between pairs of wheels on the same side of the robotwheelVelocities@JvmStatic @JvmOverloads @NotNull public static Pose2d wheelToRobotVelocities(@NotNull java.util.List<java.lang.Double> wheelVelocities, double trackWidth)
Computes the robot velocity corresponding to wheelVelocities and the given drive parameters.
wheelVelocities - wheel velocities (or wheel position deltas)trackWidth - lateral distance between pairs of wheels on different sides of the robotwheelVelocities