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<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Apr 08 13:46:47 CDT 2023 -->
<title>SwerveKinematics2</title>
<!-- Generated by javadoc (17) -->
<title>SwerveKinematics2 (YAGSL-Lib API)</title>
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@@ -36,7 +35,7 @@ loadScripts(document, 'script');</script>
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@@ -44,14 +43,14 @@ loadScripts(document, 'script');</script>
<div>
<ul class="sub-nav-list">
<li>Summary:&nbsp;</li>
<li>Nested&nbsp;|&nbsp;</li>
<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
<li><a href="#nested-class-summary">Nested</a>&nbsp;|&nbsp;</li>
<li>Field&nbsp;|&nbsp;</li>
<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
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@@ -77,69 +76,26 @@ loadScripts(document, 'script');</script>
</div>
</div>
<section class="class-description" id="class-description">
<dl class="notes">
<dt>All Implemented Interfaces:</dt>
<dd><code>edu.wpi.first.math.kinematics.Kinematics&lt;edu.wpi.first.math.kinematics.SwerveDriveKinematics.SwerveDriveWheelStates,<wbr>edu.wpi.first.math.kinematics.SwerveDriveWheelPositions&gt;</code></dd>
</dl>
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveKinematics2</span>
<span class="extends-implements">extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</span></div>
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules states from chassis
speed. Makes use of <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to add the angular velocity that is required of the module as an
output.</div>
<div class="block">Clone of WPI SwerveKinematics, which implements second order kinematics when calculating modules
states from chassis speed. Makes use of <a href="SwerveModuleState2.html" title="class in swervelib.math"><code>SwerveModuleState2</code></a> to add the angular velocity
that is required of the module as an output.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<!-- ======== NESTED CLASS SUMMARY ======== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
<div class="col-second even-row-color"><code><a href="#bigInverseKinematics" class="member-name-link">bigInverseKinematics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Second order kinematics inverse matrix.</div>
</div>
<div class="col-first odd-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
<div class="col-second odd-row-color"><code><a href="#m_forwardKinematics" class="member-name-link">m_forwardKinematics</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Forward kinematics matrix.</div>
</div>
<div class="col-first even-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
<div class="col-second even-row-color"><code><a href="#m_inverseKinematics" class="member-name-link">m_inverseKinematics</a></code></div>
<div class="col-last even-row-color">
<div class="block">Inverse kinematics matrix.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.wpilibj.Timer</code></div>
<div class="col-second odd-row-color"><code><a href="#m_moduleAccelTimer" class="member-name-link">m_moduleAccelTimer</a></code></div>
<div class="col-last odd-row-color">&nbsp;</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.math.geometry.Translation2d[]</code></div>
<div class="col-second even-row-color"><code><a href="#m_modules" class="member-name-link">m_modules</a></code></div>
<div class="col-last even-row-color">
<div class="block">Location of each swerve module in meters.</div>
</div>
<div class="col-first odd-row-color"><code>private final <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
<div class="col-second odd-row-color"><code><a href="#m_moduleStates" class="member-name-link">m_moduleStates</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve module states.</div>
</div>
<div class="col-first even-row-color"><code>private final int</code></div>
<div class="col-second even-row-color"><code><a href="#m_numModules" class="member-name-link">m_numModules</a></code></div>
<div class="col-last even-row-color">
<div class="block">Number of swerve modules.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second odd-row-color"><code><a href="#m_prevChassisSpeeds" class="member-name-link">m_prevChassisSpeeds</a></code></div>
<div class="col-last odd-row-color">&nbsp;</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Translation2d</code></div>
<div class="col-second even-row-color"><code><a href="#m_prevCoR" class="member-name-link">m_prevCoR</a></code></div>
<div class="col-last even-row-color">
<div class="block">Previous CoR</div>
</div>
<div class="col-first odd-row-color"><code>private double</code></div>
<div class="col-second odd-row-color"><code><a href="#m_prevModuleAccelTime" class="member-name-link">m_prevModuleAccelTime</a></code></div>
<div class="col-last odd-row-color">&nbsp;</div>
</div>
<section class="nested-class-summary" id="nested-class-summary">
<h2>Nested Class Summary</h2>
<div class="inherited-list">
<h2 id="nested-classes-inherited-from-class-edu.wpi.first.math.kinematics.SwerveDriveKinematics">Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveDriveKinematics</h2>
<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics.SwerveDriveWheelStates</code></div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
@@ -181,8 +137,8 @@ loadScripts(document, 'script');</script>
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</code></div>
<div class="col-last odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4">
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
joystick saturation at edges of joystick.</div>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well
as getting rid of joystick saturation at edges of joystick.</div>
</div>
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></div>
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toChassisSpeeds(swervelib.math.SwerveModuleState2...)" class="member-name-link">toChassisSpeeds</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>...&nbsp;wheelStates)</code></div>
@@ -210,7 +166,7 @@ loadScripts(document, 'script');</script>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveDriveKinematics">Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></div>
<code>desaturateWheelSpeeds, desaturateWheelSpeeds, resetHeadings, toChassisSpeeds, toChassisSpeeds, toTwist2d, toWheelSpeeds</code></div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
@@ -220,81 +176,6 @@ loadScripts(document, 'script');</script>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="m_inverseKinematics">
<h3>m_inverseKinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">org.ejml.simple.SimpleMatrix</span>&nbsp;<span class="element-name">m_inverseKinematics</span></div>
<div class="block">Inverse kinematics matrix.</div>
</section>
</li>
<li>
<section class="detail" id="m_forwardKinematics">
<h3>m_forwardKinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">org.ejml.simple.SimpleMatrix</span>&nbsp;<span class="element-name">m_forwardKinematics</span></div>
<div class="block">Forward kinematics matrix.</div>
</section>
</li>
<li>
<section class="detail" id="bigInverseKinematics">
<h3>bigInverseKinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">org.ejml.simple.SimpleMatrix</span>&nbsp;<span class="element-name">bigInverseKinematics</span></div>
<div class="block">Second order kinematics inverse matrix.</div>
</section>
</li>
<li>
<section class="detail" id="m_numModules">
<h3>m_numModules</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">m_numModules</span></div>
<div class="block">Number of swerve modules.</div>
</section>
</li>
<li>
<section class="detail" id="m_modules">
<h3>m_modules</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d[]</span>&nbsp;<span class="element-name">m_modules</span></div>
<div class="block">Location of each swerve module in meters.</div>
</section>
</li>
<li>
<section class="detail" id="m_moduleStates">
<h3>m_moduleStates</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">m_moduleStates</span></div>
<div class="block">Swerve module states.</div>
</section>
</li>
<li>
<section class="detail" id="m_moduleAccelTimer">
<h3>m_moduleAccelTimer</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.wpilibj.Timer</span>&nbsp;<span class="element-name">m_moduleAccelTimer</span></div>
</section>
</li>
<li>
<section class="detail" id="m_prevCoR">
<h3>m_prevCoR</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Translation2d</span>&nbsp;<span class="element-name">m_prevCoR</span></div>
<div class="block">Previous CoR</div>
</section>
</li>
<li>
<section class="detail" id="m_prevChassisSpeeds">
<h3>m_prevChassisSpeeds</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">m_prevChassisSpeeds</span></div>
</section>
</li>
<li>
<section class="detail" id="m_prevModuleAccelTime">
<h3>m_prevModuleAccelTime</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">m_prevModuleAccelTime</span></div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
@@ -304,10 +185,10 @@ loadScripts(document, 'script');</script>
<section class="detail" id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d...)">
<h3>SwerveKinematics2</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">SwerveKinematics2</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d...&nbsp;wheelsMeters)</span></div>
<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations as Translation2ds.
The order in which you pass in the wheel locations is the same order that you will receive the module states when
performing inverse kinematics. It is also expected that you pass in the module states in the same order when
calling the forward kinematics methods.</div>
<div class="block">Constructs a swerve drive kinematics object. This takes in a variable number of wheel locations
as Translation2ds. The order in which you pass in the wheel locations is the same order that
you will receive the module states when performing inverse kinematics. It is also expected that
you pass in the module states in the same order when calling the forward kinematics methods.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>wheelsMeters</code> - The locations of the wheels relative to the physical center of the robot.</dd>
@@ -330,13 +211,13 @@ loadScripts(document, 'script');</script>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum.
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
maintaining the ratio of speeds between modules.</div>
above the max attainable speed for the driving motor on that module. To fix this issue, one can
reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
absolute threshold, while maintaining the ratio of speeds between modules.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleStates</code> - Reference to array of module states. The array will be mutated with the
normalized speeds!</dd>
normalized speeds!</dd>
<dd><code>attainableMaxSpeedMetersPerSecond</code> - The absolute max speed that a module can reach.</dd>
</dl>
</section>
@@ -349,22 +230,23 @@ loadScripts(document, 'script');</script>
double&nbsp;attainableMaxModuleSpeedMetersPerSecond,
double&nbsp;attainableMaxTranslationalSpeedMetersPerSecond,
double&nbsp;attainableMaxRotationalVelocityRadiansPerSecond)</span></div>
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well as getting rid of
joystick saturation at edges of joystick.
<div class="block">Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well
as getting rid of joystick saturation at edges of joystick.
<p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
above the max attainable speed for the driving motor on that module. To fix this issue, one can reduce all the
wheel speeds to make sure that all requested module speeds are at-or-below the absolute threshold, while
maintaining the ratio of speeds between modules.</div>
above the max attainable speed for the driving motor on that module. To fix this issue, one can
reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
absolute threshold, while maintaining the ratio of speeds between modules.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>moduleStates</code> - Reference to array of module states. The array will be
mutated with the normalized speeds!</dd>
<dd><code>moduleStates</code> - Reference to array of module states. The array will be mutated with the
normalized speeds!</dd>
<dd><code>currentChassisSpeed</code> - The current speed of the robot</dd>
<dd><code>attainableMaxModuleSpeedMetersPerSecond</code> - The absolute max speed that a module can reach</dd>
<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot can reach while
translating</dd>
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating</dd>
<dd><code>attainableMaxTranslationalSpeedMetersPerSecond</code> - The absolute max speed that your robot
can reach while translating</dd>
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can
reach while rotating</dd>
</dl>
</section>
</li>
@@ -373,13 +255,13 @@ loadScripts(document, 'script');</script>
<h3>toSwerveModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">toSwerveModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds,
edu.wpi.first.math.geometry.Translation2d&nbsp;centerOfRotationMeters)</span></div>
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This method is often used
to convert joystick values into module speeds and angles.
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity. This
method is often used to convert joystick values into module speeds and angles.
<p>This function also supports variable centers of rotation. During normal operations, the
center of rotation is usually the same as the physical center of the robot; therefore, the argument is defaulted to
that use case. However, if you wish to change the center of rotation for evasive maneuvers, vision alignment, or
for any other use case, you can do so.
center of rotation is usually the same as the physical center of the robot; therefore, the
argument is defaulted to that use case. However, if you wish to change the center of rotation
for evasive maneuvers, vision alignment, or for any other use case, you can do so.
<p>In the case that the desired chassis speeds are zero (i.e. the robot will be stationary),
the previously calculated module angle will be maintained.</div>
@@ -388,13 +270,13 @@ loadScripts(document, 'script');</script>
<dd><code>toSwerveModuleStates</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt>Parameters:</dt>
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of rotation at one corner
of the robot and provide a chassis speed that only has a dtheta component, the robot
will rotate around that corner.</dd>
<dd><code>centerOfRotationMeters</code> - The center of rotation. For example, if you set the center of
rotation at one corner of the robot and provide a chassis speed that only has a dtheta
component, the robot will rotate around that corner.</dd>
<dt>Returns:</dt>
<dd>An array containing the module states. Use caution because these module states are not normalized.
Sometimes, a user input may cause one of the module speeds to go above the attainable max velocity. Use the
<a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)"><code>DesaturateWheelSpeeds</code></a> function to rectify this issue.</dd>
<dd>An array containing the module states. Use caution because these module states are not
normalized. Sometimes, a user input may cause one of the module speeds to go above the
attainable max velocity. Use the <a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)"><code>DesaturateWheelSpeeds</code></a> function to rectify this issue.</dd>
</dl>
</section>
</li>
@@ -402,8 +284,8 @@ loadScripts(document, 'script');</script>
<section class="detail" id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">
<h3>toSwerveModuleStates</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span>&nbsp;<span class="element-name">toSwerveModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds&nbsp;chassisSpeeds)</span></div>
<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
for more information.</div>
<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 for more information.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>toSwerveModuleStates</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
@@ -418,14 +300,14 @@ loadScripts(document, 'script');</script>
<section class="detail" id="toChassisSpeeds(swervelib.math.SwerveModuleState2...)">
<h3>toChassisSpeeds</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span>&nbsp;<span class="element-name">toChassisSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>...&nbsp;wheelStates)</span></div>
<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
angle of each module on the robot.</div>
<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 angle of each module on the robot.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>wheelStates</code> - The state of the modules (as a SwerveModuleState 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>
<dd><code>wheelStates</code> - The state of the modules (as a SwerveModuleState 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>
<dt>Returns:</dt>
<dd>The resulting chassis speed.</dd>
</dl>
@@ -435,16 +317,16 @@ loadScripts(document, 'script');</script>
<section class="detail" id="toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">
<h3>toTwist2d</h3>
<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Twist2d</span>&nbsp;<span class="element-name">toTwist2d</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModulePosition...&nbsp;wheelDeltas)</span></div>
<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
angle of each module on the robot.</div>
<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 angle of each module on the robot.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>toTwist2d</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
<dt>Parameters:</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>
<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>
<dt>Returns:</dt>
<dd>The resulting Twist2d.</dd>
</dl>