frc.team670.robot.utils.math

Class Kinematics

java.lang.Object

frc.team670.robot.utils.math.Kinematics

public class Kinematics
extends java.lang.Object

Constructor Summary

Constructors

Constructor and Description
Kinematics()

Method Summary

Modifier and Type	Method and Description
static Twist	forwardKinematics(double leftDelta, double rightDelta, double rotationDelta)
static RigidTransform	integrateForwardKinematics(RigidTransform currentPose, Twist deltaPos) Forward kinematics: Starting in the pose (x, y, theta) at time t, determine the pose at time t + delta_t (x', y', theta') given the robot's left and right wheel velocities.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Kinematics

public Kinematics()

Method Detail

integrateForwardKinematics

public static RigidTransform integrateForwardKinematics(RigidTransform currentPose,
                                                        Twist deltaPos)

Forward kinematics: Starting in the pose (x, y, theta) at time t, determine the pose at time t + delta_t (x', y', theta') given the robot's left and right wheel velocities. Note: we don't take time into account here because we are assuming the control loop is running at a constant period.

Parameters:

currentPose - current pose of the robot

deltaPos - the change in (x, y, theta) of the robot over the past iteration

Returns:

the new pose of the robot

forwardKinematics

public static Twist forwardKinematics(double leftDelta,
                                      double rightDelta,
                                      double rotationDelta)