@JvmStatic @JvmOverloads fun robotToModuleAccelerationVectors(robotAccel: Pose2d, trackWidth: Double, wheelBase: Double = trackWidth): List<Vector2d> (source)
Computes the acceleration vectors corresponding to robotAccel given the provided trackWidth and wheelBase.
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