core/com.acmerobotics.roadrunner/TankKinematics

TankKinematics

data class TankKinematics(val trackWidth: Double)

Parameters

trackWidth

distance between wheels on opposite sides; see the diagram below Wheelbase and track width diagram

Constructors

fun TankKinematics(trackWidth: Double)

Types

WheelIncrements

data class WheelIncrements<Param>(val left: DualNum<Param>, val right: DualNum<Param>)

WheelVelConstraint

inner class WheelVelConstraint(val maxWheelVel: Double) : VelConstraint

WheelVelocities

data class WheelVelocities<Param>(val left: DualNum<Param>, val right: DualNum<Param>)

Functions

fun <Param> forward(w: TankKinematics.WheelIncrements<Param>): Twist2dIncrDual<Param>

fun <Param> inverse(t: Twist2dDual<Param>): TankKinematics.WheelVelocities<Param>

Properties

val trackWidth: Double