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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">frc.robot.subsystems.swervedrive2.swervelib.math</a></div>
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<h2 title="Class SwerveKinematics2" class="title">Class SwerveKinematics2</h2>
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<li>edu.wpi.first.math.kinematics.SwerveDriveKinematics</li>
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<li>
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<li>frc.robot.subsystems.swervedrive2.swervelib.math.SwerveKinematics2</li>
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<pre>public class <span class="typeNameLabel">SwerveKinematics2</span>
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extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
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<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
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speed.
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<p></p>
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<p>
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Makes use of <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math"><code>SwerveModuleState2</code></a> to add the angular velocity that is required of the module as an output.</div>
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<!-- =========== FIELD SUMMARY =========== -->
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<section>
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<h3>Field Summary</h3>
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<table class="memberSummary">
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<caption><span>Fields</span><span class="tabEnd"> </span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Field</th>
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<th class="colLast" scope="col">Description</th>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#bigInverseKinematics">bigInverseKinematics</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_forwardKinematics">m_forwardKinematics</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private org.ejml.simple.SimpleMatrix</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_inverseKinematics">m_inverseKinematics</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d[]</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_modules">m_modules</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_moduleStates">m_moduleStates</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="rowColor">
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<td class="colFirst"><code>private int</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_numModules">m_numModules</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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<tr class="altColor">
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<td class="colFirst"><code>private edu.wpi.first.math.geometry.Translation2d</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#m_prevCoR">m_prevCoR</a></span></code></th>
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<td class="colLast"> </td>
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</tr>
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</table>
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</li>
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</ul>
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</section>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<section>
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<h3>Constructor Summary</h3>
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<table class="memberSummary">
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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<th class="colFirst" scope="col">Constructor</th>
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<th class="colLast" scope="col">Description</th>
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<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)">SwerveKinematics2</a></span>​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</code></th>
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<td class="colLast">
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<div class="block">Constructs a swerve drive kinematics object.</div>
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</td>
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</table>
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</section>
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<!-- ========== METHOD SUMMARY =========== -->
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<h3>Method Summary</h3>
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<table class="memberSummary">
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
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<tr>
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<th class="colFirst" scope="col">Modifier and Type</th>
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<th class="colSecond" scope="col">Method</th>
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<th class="colLast" scope="col">Description</th>
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<td class="colFirst"><code>static void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] moduleStates,
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double attainableMaxSpeedMetersPerSecond)</code></th>
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<td class="colLast">
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<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.</div>
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</td>
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</tr>
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<tr id="i1" class="rowColor">
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<td class="colFirst"><code>static void</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] moduleStates,
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edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
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double attainableMaxModuleSpeedMetersPerSecond,
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double attainableMaxTranslationalSpeedMetersPerSecond,
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double attainableMaxRotationalVelocityRadiansPerSecond)</code></th>
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<td class="colLast">
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<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
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joystick saturation at edges of joystick.</div>
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</td>
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</tr>
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<tr id="i2" class="altColor">
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<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toChassisSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2...)">toChassisSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>... wheelStates)</code></th>
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<td class="colLast">
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<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
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</td>
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</tr>
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<tr id="i3" class="rowColor">
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<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></th>
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<td class="colLast">
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<div class="block">Performs inverse kinematics.</div>
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</td>
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<tr id="i4" class="altColor">
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<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[]</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">toSwerveModuleStates</a></span>​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
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edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></th>
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<td class="colLast">
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<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
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</td>
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<td class="colFirst"><code>edu.wpi.first.math.geometry.Twist2d</code></td>
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<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">toTwist2d</a></span>​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</code></th>
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<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
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<h3>Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
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<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></li>
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<h3>Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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<h3>Field Detail</h3>
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<h4>m_inverseKinematics</h4>
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<pre>private final org.ejml.simple.SimpleMatrix m_inverseKinematics</pre>
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<pre>private final org.ejml.simple.SimpleMatrix m_forwardKinematics</pre>
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<pre>private final org.ejml.simple.SimpleMatrix bigInverseKinematics</pre>
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<pre>private final int m_numModules</pre>
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<h4>m_modules</h4>
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<pre>private final edu.wpi.first.math.geometry.Translation2d[] m_modules</pre>
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<h4>m_moduleStates</h4>
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<pre>private final <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] m_moduleStates</pre>
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<pre>private edu.wpi.first.math.geometry.Translation2d m_prevCoR</pre>
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<h3>Constructor Detail</h3>
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<pre>public SwerveKinematics2​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</pre>
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<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as Translation2ds.
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The order in which you pass in the wheel locations is the same order that you will receive the module states when
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performing inverse kinematics. It is also expected that you pass in the module states in the same order when
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calling the forward kinematics methods.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>wheelsMeters</code> - The locations of the wheels relative to the physical center of the robot.</dd>
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<h3>Method Detail</h3>
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<a id="desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2[],double)">
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<h4>desaturateWheelSpeeds</h4>
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<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] moduleStates,
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double attainableMaxSpeedMetersPerSecond)</pre>
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<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.
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<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
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above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
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wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
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maintaining the ratio of speeds between modules.</div>
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<dl>
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<dt><span class="paramLabel">Parameters:</span></dt>
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<dd><code>moduleStates</code> - Reference to array of module states. The array will be mutated with the
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normalized speeds!</dd>
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<dd><code>attainableMaxSpeedMetersPerSecond</code> - The absolute max speed that a module can reach.</dd>
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<a id="desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
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<h4>desaturateWheelSpeeds</h4>
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<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] moduleStates,
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edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
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double attainableMaxModuleSpeedMetersPerSecond,
|
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double attainableMaxTranslationalSpeedMetersPerSecond,
|
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double attainableMaxRotationalVelocityRadiansPerSecond)</pre>
|
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<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
|
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joystick saturation at edges of joystick.
|
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<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
|
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above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
|
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wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
|
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maintaining the ratio of speeds between modules.</div>
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<dl>
|
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>moduleStates</code> - Reference to array of module states. The array will be
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mutated with the normalized speeds!</dd>
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<dd><code>currentChassisSpeed</code> - The current speed of the robot</dd>
|
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<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach</dd>
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<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot can reach while
|
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translating</dd>
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<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating</dd>
|
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</dl>
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</ul>
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<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
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<h4>toSwerveModuleStates</h4>
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<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
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edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</pre>
|
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<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used
|
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to convert joystick values into module speeds and angles.
|
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<p>This function also supports variable centers of rotation. During normal operations, the
|
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center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to
|
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that use case. However, if you wish to change the center of rotation for evasive maneuvers, vision alignment, or
|
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for any other use case, you can do so.
|
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<p>In the case that the desired chassis speeds are zero (i.e. the robot will be stationary),
|
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the previously calculated module angle will be maintained.</div>
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<dl>
|
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<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
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<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
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<dt><span class="paramLabel">Parameters:</span></dt>
|
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<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
|
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<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one corner
|
||
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of the robot and provide a chassis speed that only has a dtheta component, the robot
|
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will rotate around that corner.</dd>
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<dt><span class="returnLabel">Returns:</span></dt>
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<dd>An array containing the module states. Use caution because these module states are not normalized.
|
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Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the
|
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<a href="#desaturateWheelSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2%5B%5D,double)"><code>DesaturateWheelSpeeds</code></a> function to rectify this issue.</dd>
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</dl>
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<h4>toSwerveModuleStates</h4>
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<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</pre>
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<div class="block">Performs inverse kinematics. See <a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)"><code>toSwerveModuleStates(ChassisSpeeds, Translation2d)</code></a> toSwerveModuleStates
|
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for more information.</div>
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<dl>
|
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<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
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<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
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<dt><span class="paramLabel">Parameters:</span></dt>
|
||
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<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
|
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<dt><span class="returnLabel">Returns:</span></dt>
|
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<dd>An array containing the module states.</dd>
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</dl>
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</li>
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<a id="toChassisSpeeds(frc.robot.subsystems.swervedrive2.swervelib.math.SwerveModuleState2...)">
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<h4>toChassisSpeeds</h4>
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<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds toChassisSpeeds​(<a href="SwerveModuleState2.html" title="class in frc.robot.subsystems.swervedrive2.swervelib.math">SwerveModuleState2</a>... wheelStates)</pre>
|
||
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<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
|
||
|
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often used for odometry -- determining the robot's position on the field using data from the real-world speed and
|
||
|
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angle of each module on the robot.</div>
|
||
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<dl>
|
||
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<dt><span class="paramLabel">Parameters:</span></dt>
|
||
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<dd><code>wheelStates</code> - The state of the modules (as a SwerveModuleState type) as measured from respective encoders and
|
||
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gyros. The order of the swerve module states should be same as passed into the constructor of
|
||
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this class.</dd>
|
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<dt><span class="returnLabel">Returns:</span></dt>
|
||
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<dd>The resulting chassis speed.</dd>
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</dl>
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|
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<h4>toTwist2d</h4>
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<pre class="methodSignature">public edu.wpi.first.math.geometry.Twist2d toTwist2d​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</pre>
|
||
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<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states. This method is
|
||
|
|
often used for odometry -- determining the robot's position on the field using data from the real-world speed and
|
||
|
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angle of each module on the robot.</div>
|
||
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<dl>
|
||
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<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
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|
|
<dd><code>toTwist2d</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||
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<dt><span class="paramLabel">Parameters:</span></dt>
|
||
|
|
<dd><code>wheelDeltas</code> - The latest change in position of the modules (as a SwerveModulePosition type) as measured from
|
||
|
|
respective encoders and gyros. The order of the swerve module states should be same as passed
|
||
|
|
into the constructor of this class.</dd>
|
||
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<dt><span class="returnLabel">Returns:</span></dt>
|
||
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|
<dd>The resulting Twist2d.</dd>
|
||
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