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Updated swervelib documentation and merged @7910f6ba7ee4 PR
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<div class="subTitle"><span class="packageLabelInType">Package</span> <a href="package-summary.html">swervelib.math</a></div>
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<h2 title="Class SwerveKinematics2" class="title">Class SwerveKinematics2</h2>
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<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">swervelib.math</a></div>
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<h1 title="Class SwerveKinematics2" class="title">Class SwerveKinematics2</h1>
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<li>edu.wpi.first.math.kinematics.SwerveDriveKinematics</li>
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<ul class="inheritance">
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<li>swervelib.math.SwerveKinematics2</li>
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<div class="inheritance">edu.wpi.first.math.kinematics.SwerveDriveKinematics
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<div class="inheritance">swervelib.math.SwerveKinematics2</div>
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</div>
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<section class="class-description" id="class-description">
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<hr>
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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="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveKinematics2</span>
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<span class="extends-implements">extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</span></div>
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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 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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<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 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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</li>
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</ul>
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<li>
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<section class="field-summary" id="field-summary">
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<h2>Field Summary</h2>
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<div class="caption"><span>Fields</span></div>
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<div class="summary-table three-column-summary">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Field</div>
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||||
<div class="table-header col-last">Description</div>
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||||
<div class="col-first even-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
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<div class="col-second even-row-color"><code><a href="#bigInverseKinematics" class="member-name-link">bigInverseKinematics</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Second order kinematics inverse matrix.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
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<div class="col-second odd-row-color"><code><a href="#m_forwardKinematics" class="member-name-link">m_forwardKinematics</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Forward kinematics matrix.</div>
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</div>
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<div class="col-first even-row-color"><code>private final org.ejml.simple.SimpleMatrix</code></div>
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<div class="col-second even-row-color"><code><a href="#m_inverseKinematics" class="member-name-link">m_inverseKinematics</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Inverse kinematics matrix.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.geometry.Translation2d[]</code></div>
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<div class="col-second odd-row-color"><code><a href="#m_modules" class="member-name-link">m_modules</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Location of each swerve module in meters.</div>
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</div>
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<div class="col-first even-row-color"><code>private final <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
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<div class="col-second even-row-color"><code><a href="#m_moduleStates" class="member-name-link">m_moduleStates</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Swerve module states.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final int</code></div>
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<div class="col-second odd-row-color"><code><a href="#m_numModules" class="member-name-link">m_numModules</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Number of swerve modules.</div>
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</div>
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<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Translation2d</code></div>
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<div class="col-second even-row-color"><code><a href="#m_prevCoR" class="member-name-link">m_prevCoR</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Previous CoR</div>
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</div>
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</div>
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</section>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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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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<section class="constructor-summary" id="constructor-summary">
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<h2>Constructor Summary</h2>
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<div class="summary-table two-column-summary">
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<div class="table-header col-first">Constructor</div>
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<div class="table-header col-last">Description</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d...)" class="member-name-link">SwerveKinematics2</a><wbr>(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</code></div>
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<div class="col-last even-row-color">
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<div class="block">Constructs a swerve drive kinematics object.</div>
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</td>
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</tr>
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</table>
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<h3>Method Summary</h3>
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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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<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>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
double attainableMaxSpeedMetersPerSecond)</code></th>
|
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<td class="colLast">
|
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<li>
|
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<section class="method-summary" id="method-summary">
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<h2>Method Summary</h2>
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<div id="method-summary-table">
|
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab1" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab1', 3)" class="table-tab">Static Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
|
||||
<div id="method-summary-table.tabpanel" role="tabpanel">
|
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
|
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<div class="table-header col-first">Modifier and Type</div>
|
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<div class="table-header col-second">Method</div>
|
||||
<div class="table-header col-last">Description</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,double)" class="member-name-link">desaturateWheelSpeeds</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
double attainableMaxSpeedMetersPerSecond)</code></div>
|
||||
<div class="col-last even-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.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i1" class="rowColor">
|
||||
<td class="colFirst"><code>static void</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">desaturateWheelSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
|
||||
double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double attainableMaxRotationalVelocityRadiansPerSecond)</code></th>
|
||||
<td class="colLast">
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code>static void</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab1 method-summary-table-tab4"><code><a href="#desaturateWheelSpeeds(swervelib.math.SwerveModuleState2%5B%5D,edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)" class="member-name-link">desaturateWheelSpeeds</a><wbr>(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
|
||||
double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double 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>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i2" class="altColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.kinematics.ChassisSpeeds</code></td>
|
||||
<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toChassisSpeeds(swervelib.math.SwerveModuleState2...)">toChassisSpeeds</a></span>​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>... wheelStates)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i3" class="rowColor">
|
||||
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></td>
|
||||
<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>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs inverse kinematics.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i4" class="altColor">
|
||||
<td class="colFirst"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></td>
|
||||
<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,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></th>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
|
||||
</td>
|
||||
</tr>
|
||||
<tr id="i5" class="rowColor">
|
||||
<td class="colFirst"><code>edu.wpi.first.math.geometry.Twist2d</code></td>
|
||||
<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>
|
||||
<td class="colLast">
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
|
||||
</td>
|
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</tr>
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</table>
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||||
</a>
|
||||
<h3>Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
|
||||
<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>
|
||||
<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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
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</ul>
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</div>
|
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<div class="details">
|
||||
<ul class="blockList">
|
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<li class="blockList">
|
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<!-- ============ FIELD DETAIL =========== -->
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<section>
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<ul class="blockList">
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<li class="blockList"><a id="field.detail">
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||||
</a>
|
||||
<h3>Field Detail</h3>
|
||||
<a id="m_inverseKinematics">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
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|
||||
<h4>m_inverseKinematics</h4>
|
||||
<pre>private final org.ejml.simple.SimpleMatrix m_inverseKinematics</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_forwardKinematics">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>m_forwardKinematics</h4>
|
||||
<pre>private final org.ejml.simple.SimpleMatrix m_forwardKinematics</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="bigInverseKinematics">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
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||||
<li class="blockList">
|
||||
<h4>bigInverseKinematics</h4>
|
||||
<pre>private final org.ejml.simple.SimpleMatrix bigInverseKinematics</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_numModules">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
|
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<li class="blockList">
|
||||
<h4>m_numModules</h4>
|
||||
<pre>private final int m_numModules</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_modules">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
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<li class="blockList">
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<h4>m_modules</h4>
|
||||
<pre>private final edu.wpi.first.math.geometry.Translation2d[] m_modules</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_moduleStates">
|
||||
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|
||||
</a>
|
||||
<ul class="blockList">
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<li class="blockList">
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<h4>m_moduleStates</h4>
|
||||
<pre>private final <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] m_moduleStates</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="m_prevCoR">
|
||||
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|
||||
</a>
|
||||
<ul class="blockListLast">
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<h4>m_prevCoR</h4>
|
||||
<pre>private edu.wpi.first.math.geometry.Translation2d m_prevCoR</pre>
|
||||
</li>
|
||||
</ul>
|
||||
<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>... wheelStates)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)" class="member-name-link">toSwerveModuleStates</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Performs inverse kinematics.</div>
|
||||
</div>
|
||||
<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</code></div>
|
||||
<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)" class="member-name-link">toSwerveModuleStates</a><wbr>(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</code></div>
|
||||
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Performs inverse kinematics to return the module states from a desired chassis velocity.</div>
|
||||
</div>
|
||||
<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Twist2d</code></div>
|
||||
<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)" class="member-name-link">toTwist2d</a><wbr>(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</code></div>
|
||||
<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
|
||||
<div class="block">Performs forward kinematics to return the resulting chassis state from the given module states.</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div class="inherited-list">
|
||||
<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveDriveKinematics">Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveKinematics</h3>
|
||||
<code>desaturateWheelSpeeds, desaturateWheelSpeeds, toChassisSpeeds</code></div>
|
||||
<div class="inherited-list">
|
||||
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class 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>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</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> <span class="return-type">org.ejml.simple.SimpleMatrix</span> <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> <span class="return-type">org.ejml.simple.SimpleMatrix</span> <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> <span class="return-type">org.ejml.simple.SimpleMatrix</span> <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> <span class="return-type">int</span> <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> <span class="return-type">edu.wpi.first.math.geometry.Translation2d[]</span> <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> <span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span> <span class="element-name">m_moduleStates</span></div>
|
||||
<div class="block">Swerve module states.</div>
|
||||
</section>
|
||||
</li>
|
||||
<li>
|
||||
<section class="detail" id="m_prevCoR">
|
||||
<h3>m_prevCoR</h3>
|
||||
<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">edu.wpi.first.math.geometry.Translation2d</span> <span class="element-name">m_prevCoR</span></div>
|
||||
<div class="block">Previous CoR</div>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
<!-- ========= CONSTRUCTOR DETAIL ======== -->
|
||||
<section>
|
||||
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|
||||
<li class="blockList"><a id="constructor.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Constructor Detail</h3>
|
||||
<a id="<init>(edu.wpi.first.math.geometry.Translation2d...)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
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|
||||
<h4>SwerveKinematics2</h4>
|
||||
<pre>public SwerveKinematics2​(edu.wpi.first.math.geometry.Translation2d... wheelsMeters)</pre>
|
||||
<li>
|
||||
<section class="constructor-details" id="constructor-detail">
|
||||
<h2>Constructor Details</h2>
|
||||
<ul class="member-list">
|
||||
<li>
|
||||
<section class="detail" id="<init>(edu.wpi.first.math.geometry.Translation2d...)">
|
||||
<h3>SwerveKinematics2</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveKinematics2</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Translation2d... 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>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>wheelsMeters</code> - The locations of the wheels relative to the physical center of the robot.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
<!-- ============ METHOD DETAIL ========== -->
|
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<section>
|
||||
<ul class="blockList">
|
||||
<li class="blockList"><a id="method.detail">
|
||||
<!-- -->
|
||||
</a>
|
||||
<h3>Method Detail</h3>
|
||||
<a id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>desaturateWheelSpeeds</h4>
|
||||
<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
double attainableMaxSpeedMetersPerSecond)</pre>
|
||||
<li>
|
||||
<section class="method-details" id="method-detail">
|
||||
<h2>Method Details</h2>
|
||||
<ul class="member-list">
|
||||
<li>
|
||||
<section class="detail" id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],double)">
|
||||
<h3>desaturateWheelSpeeds</h3>
|
||||
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">desaturateWheelSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
double attainableMaxSpeedMetersPerSecond)</span></div>
|
||||
<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>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<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>attainableMaxSpeedMetersPerSecond</code> - The absolute max speed that a module can reach.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>desaturateWheelSpeeds</h4>
|
||||
<pre class="methodSignature">public static void desaturateWheelSpeeds​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
|
||||
double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double attainableMaxRotationalVelocityRadiansPerSecond)</pre>
|
||||
<li>
|
||||
<section class="detail" id="desaturateWheelSpeeds(swervelib.math.SwerveModuleState2[],edu.wpi.first.math.kinematics.ChassisSpeeds,double,double,double)">
|
||||
<h3>desaturateWheelSpeeds</h3>
|
||||
<div class="member-signature"><span class="modifiers">public static</span> <span class="return-type">void</span> <span class="element-name">desaturateWheelSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] moduleStates,
|
||||
edu.wpi.first.math.kinematics.ChassisSpeeds currentChassisSpeed,
|
||||
double attainableMaxModuleSpeedMetersPerSecond,
|
||||
double attainableMaxTranslationalSpeedMetersPerSecond,
|
||||
double 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.
|
||||
|
||||
@@ -460,8 +329,8 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
|
||||
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>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<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>currentChassisSpeed</code> - The current speed of the robot</dd>
|
||||
@@ -470,16 +339,13 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
|
||||
translating</dd>
|
||||
<dd><code>attainableMaxRotationalVelocityRadiansPerSecond</code> - The absolute max speed the robot can reach while rotating</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toSwerveModuleStates</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
|
||||
edu.wpi.first.math.geometry.Translation2d centerOfRotationMeters)</pre>
|
||||
<li>
|
||||
<section class="detail" id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds,edu.wpi.first.math.geometry.Translation2d)">
|
||||
<h3>toSwerveModuleStates</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span> <span class="element-name">toSwerveModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds,
|
||||
edu.wpi.first.math.geometry.Translation2d 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.
|
||||
|
||||
@@ -490,150 +356,81 @@ extends edu.wpi.first.math.kinematics.SwerveDriveKinematics</pre>
|
||||
|
||||
<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>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dl class="notes">
|
||||
<dt>Overrides:</dt>
|
||||
<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<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>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<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>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toSwerveModuleStates</h4>
|
||||
<pre class="methodSignature">public <a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[] toSwerveModuleStates​(edu.wpi.first.math.kinematics.ChassisSpeeds chassisSpeeds)</pre>
|
||||
<li>
|
||||
<section class="detail" id="toSwerveModuleStates(edu.wpi.first.math.kinematics.ChassisSpeeds)">
|
||||
<h3>toSwerveModuleStates</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type"><a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>[]</span> <span class="element-name">toSwerveModuleStates</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.ChassisSpeeds 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>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dl class="notes">
|
||||
<dt>Overrides:</dt>
|
||||
<dd><code>toSwerveModuleStates</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>chassisSpeeds</code> - The desired chassis speed.</dd>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dt>Returns:</dt>
|
||||
<dd>An array containing the module states.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toChassisSpeeds(swervelib.math.SwerveModuleState2...)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockList">
|
||||
<li class="blockList">
|
||||
<h4>toChassisSpeeds</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.kinematics.ChassisSpeeds toChassisSpeeds​(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>... wheelStates)</pre>
|
||||
<li>
|
||||
<section class="detail" id="toChassisSpeeds(swervelib.math.SwerveModuleState2...)">
|
||||
<h3>toChassisSpeeds</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.kinematics.ChassisSpeeds</span> <span class="element-name">toChassisSpeeds</span><wbr><span class="parameters">(<a href="SwerveModuleState2.html" title="class in swervelib.math">SwerveModuleState2</a>... 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>
|
||||
<dl>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<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>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dt>Returns:</dt>
|
||||
<dd>The resulting chassis speed.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
<a id="toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">
|
||||
<!-- -->
|
||||
</a>
|
||||
<ul class="blockListLast">
|
||||
<li class="blockList">
|
||||
<h4>toTwist2d</h4>
|
||||
<pre class="methodSignature">public edu.wpi.first.math.geometry.Twist2d toTwist2d​(edu.wpi.first.math.kinematics.SwerveModulePosition... wheelDeltas)</pre>
|
||||
<li>
|
||||
<section class="detail" id="toTwist2d(edu.wpi.first.math.kinematics.SwerveModulePosition...)">
|
||||
<h3>toTwist2d</h3>
|
||||
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Twist2d</span> <span class="element-name">toTwist2d</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveModulePosition... 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>
|
||||
<dl>
|
||||
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
|
||||
<dl class="notes">
|
||||
<dt>Overrides:</dt>
|
||||
<dd><code>toTwist2d</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></dd>
|
||||
<dt><span class="paramLabel">Parameters:</span></dt>
|
||||
<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>
|
||||
<dt><span class="returnLabel">Returns:</span></dt>
|
||||
<dt>Returns:</dt>
|
||||
<dd>The resulting Twist2d.</dd>
|
||||
</dl>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
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|
||||
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|
||||
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