object Kinematics (source)
A collection of methods for various kinematics-related tasks.
calculateFieldPoseError |
Returns the error between targetFieldPose and currentFieldPose in the field frame. fun calculateFieldPoseError(targetFieldPose: Pose2d, currentFieldPose: Pose2d): Pose2d |
calculateMotorFeedforward |
Computes the motor feedforward (i.e., open loop powers) for the given set of coefficients. fun calculateMotorFeedforward(vels: List<Double>, accels: List<Double>, kV: Double, kA: Double, kStatic: Double): List<Double>
Computes the motor feedforward (i.e., open loop power) for the given set of coefficients. fun calculateMotorFeedforward(vel: Double, accel: Double, kV: Double, kA: Double, kStatic: Double): Double |
calculateRobotPoseError |
Returns the error between targetFieldPose and currentFieldPose in the robot frame. fun calculateRobotPoseError(targetFieldPose: Pose2d, currentFieldPose: Pose2d): Pose2d |
fieldToRobotAcceleration |
Returns the robot pose acceleration corresponding to fieldPose, fieldVel, and fieldAccel. fun fieldToRobotAcceleration(fieldPose: Pose2d, fieldVel: Pose2d, fieldAccel: Pose2d): Pose2d |
fieldToRobotVelocity |
Returns the robot pose velocity corresponding to fieldPose and fieldVel. fun fieldToRobotVelocity(fieldPose: Pose2d, fieldVel: Pose2d): Pose2d |
relativeOdometryUpdate |
Performs a relative odometry update. Note: this assumes that the robot moves with constant velocity over the measurement interval. fun relativeOdometryUpdate(fieldPose: Pose2d, robotPoseDelta: Pose2d): Pose2d |