Package com.acmerobotics.roadrunner
Class MecanumKinematics
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- All Implemented Interfaces:
public final class MecanumKinematics
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Nested Class Summary
Nested Classes Modifier and Type Class Description public final classMecanumKinematics.WheelIncrementspublic final classMecanumKinematics.WheelVelocitiespublic final classMecanumKinematics.WheelVelConstraint
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Field Summary
Fields Modifier and Type Field Description public final DoubletrackWidthpublic final DoublelateralMultiplier
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Constructor Summary
Constructors Constructor Description MecanumKinematics(Double trackWidth, Double wheelbase, Double lateralMultiplier)MecanumKinematics(Double trackWidth, Double lateralMultiplier)MecanumKinematics(Double trackWidth)
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Method Summary
Modifier and Type Method Description final <Param extends Any> Twist2dDual<Param>forward(MecanumKinematics.WheelIncrements<Param> w)final <Param extends Any> MecanumKinematics.WheelVelocities<Param>inverse(PoseVelocity2dDual<Param> t)-
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Constructor Detail
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MecanumKinematics
MecanumKinematics(Double trackWidth, Double wheelbase, Double lateralMultiplier)
- Parameters:
wheelbase- distance between wheels on the same side; see the diagram in MecanumKinematics
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MecanumKinematics
MecanumKinematics(Double trackWidth, Double lateralMultiplier)
- Parameters:
trackWidth- distance between wheels on opposite sides; see the diagram belowlateralMultiplier- factor that multiplies strafe velocity to compensate for slip; increase it to boost the distance traveled in the strafe direction
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MecanumKinematics
MecanumKinematics(Double trackWidth)
- Parameters:
trackWidth- distance between wheels on opposite sides; see the diagram below
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Method Detail
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forward
final <Param extends Any> Twist2dDual<Param> forward(MecanumKinematics.WheelIncrements<Param> w)
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inverse
final <Param extends Any> MecanumKinematics.WheelVelocities<Param> inverse(PoseVelocity2dDual<Param> t)
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