WPILibC++ 2024.3.2

Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds. More...
#include <frc/kinematics/Kinematics.h>
Public Member Functions  
virtual ChassisSpeeds  ToChassisSpeeds (const WheelSpeeds &wheelSpeeds) const =0 
Performs forward kinematics to return the resulting chassis speed from the wheel speeds. More...  
virtual WheelSpeeds  ToWheelSpeeds (const ChassisSpeeds &chassisSpeeds) const =0 
Performs inverse kinematics to return the wheel speeds from a desired chassis velocity. More...  
virtual Twist2d  ToTwist2d (const WheelPositions &start, const WheelPositions &end) const =0 
Performs forward kinematics to return the resulting Twist2d from the given change in wheel positions. More...  
Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds.
Robot code should not use this directly Instead, use the particular type for your drivetrain (e.g., DifferentialDriveKinematics).
Inverse kinematics converts a desired chassis speed into wheel speeds whereas forward kinematics converts wheel speeds into chassis speed.

pure virtual 
Performs forward kinematics to return the resulting chassis speed from the wheel speeds.
This method is often used for odometry – determining the robot's position on the field using data from the realworld speed of each wheel on the robot.
wheelSpeeds  The speeds of the wheels. 
Implemented in frc::DifferentialDriveKinematics, and frc::MecanumDriveKinematics.

pure virtual 
Performs forward kinematics to return the resulting Twist2d from the given change in wheel positions.
This method is often used for odometry – determining the robot's position on the field using changes in the distance driven by each wheel on the robot.
start  The starting distances driven by the wheels. 
end  The ending distances driven by the wheels. 
Implemented in frc::DifferentialDriveKinematics, frc::MecanumDriveKinematics, and frc::SwerveDriveKinematics< NumModules >.

pure virtual 
Performs inverse kinematics to return the wheel speeds from a desired chassis velocity.
This method is often used to convert joystick values into wheel speeds.
chassisSpeeds  The desired chassis speed. 
Implemented in frc::DifferentialDriveKinematics, frc::MecanumDriveKinematics, and frc::SwerveDriveKinematics< NumModules >.