Navigation/com.amarcolini.joos.kinematics/SwerveKinematics/robotToModuleVelocityVectors

robotToModuleVelocityVectors

@JvmStatic
fun robotToModuleVelocityVectors(robotVel: Pose2d, modulePositions: List<Vector2d>): List<Vector2d>

Computes the module velocity vectors corresponding to robotVel given the provided modulePositions.

Parameters

robotVel

velocity of the robot in its reference frame

modulePositions

the positions of all the modules relative to the center of rotation of the robot