Navigation/com.amarcolini.joos.kinematics/Kinematics

Kinematics

public class Kinematics

A collection of methods for various kinematics-related tasks.

Properties

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public final static Kinematics INSTANCE

Functions

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public final static Pose2d calculateFieldPoseError(Pose2d targetFieldPose, Pose2d currentFieldPose)

Returns the error between targetFieldPose and currentFieldPose in the field frame.

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public final static Pose2d calculateRobotPoseError(Pose2d targetFieldPose, Pose2d currentFieldPose)

Returns the error between targetFieldPose and currentFieldPose in the robot frame.

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public final static Pose2d fieldToRobotAcceleration(Pose2d fieldPose, Pose2d fieldVel, Pose2d fieldAccel)

Returns the robot pose acceleration corresponding to fieldPose, fieldVel, and fieldAccel.

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public final static Pose2d fieldToRobotVelocity(Pose2d fieldPose, Pose2d fieldVel)

Returns the robot pose velocity corresponding to fieldPose and fieldVel.

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public final static Pose2d relativeOdometryUpdate(Pose2d fieldPose, Pose2d robotPoseDelta)

Performs a relative odometry update. Note: this assumes that the robot moves with constant velocity over the measurement interval.