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wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+
+#include "frc/geometry/Twist2d.h"
+#include "frc/kinematics/ChassisSpeeds.h"
+
+namespace frc {
+/**
+ * Helper class that converts a chassis velocity (dx, dy, and dtheta components)
+ * into individual wheel speeds. Robot code should not use this directly-
+ * Instead, use the particular type for your drivetrain (e.g.,
+ * DifferentialDriveKinematics).
+ *
+ * Inverse kinematics converts a desired chassis speed into wheel speeds whereas
+ * forward kinematics converts wheel speeds into chassis speed.
+ */
+template <typename WheelSpeeds, typename WheelPositions>
+  requires std::copy_constructible<WheelPositions> &&
+           std::assignable_from<WheelPositions&, const WheelPositions&>
+class WPILIB_DLLEXPORT Kinematics {
+ public:
+  virtual ~Kinematics() noexcept = default;
+
+  /**
+   * Performs forward kinematics to return the resulting chassis speed from the
+   * wheel speeds. This method is often used for odometry -- determining the
+   * robot's position on the field using data from the real-world speed of each
+   * wheel on the robot.
+   *
+   * @param wheelSpeeds The speeds of the wheels.
+   * @return The chassis speed.
+   */
+  virtual ChassisSpeeds ToChassisSpeeds(
+      const WheelSpeeds& wheelSpeeds) const = 0;
+
+  /**
+   * Performs inverse kinematics to return the wheel speeds from a desired
+   * chassis velocity. This method is often used to convert joystick values into
+   * wheel speeds.
+   *
+   * @param chassisSpeeds The desired chassis speed.
+   * @return The wheel speeds.
+   */
+  virtual WheelSpeeds ToWheelSpeeds(
+      const ChassisSpeeds& chassisSpeeds) const = 0;
+
+  /**
+   * Performs forward kinematics to return the resulting Twist2d from the given
+   * change in wheel positions. This method is often used for odometry --
+   * determining the robot's position on the field using changes in the distance
+   * driven by each wheel on the robot.
+   *
+   * @param start The starting distances driven by the wheels.
+   * @param end The ending distances driven by the wheels.
+   *
+   * @return The resulting Twist2d in the robot's movement.
+   */
+  virtual Twist2d ToTwist2d(const WheelPositions& start,
+                            const WheelPositions& end) const = 0;
+
+  /**
+   * Performs interpolation between two values.
+   *
+   * @param start The value to start at.
+   * @param end The value to end at.
+   * @param t How far between the two values to interpolate. This should be
+   * bounded to [0, 1].
+   * @return The interpolated value.
+   */
+  virtual WheelPositions Interpolate(const WheelPositions& start,
+                                     const WheelPositions& end,
+                                     double t) const = 0;
+};
+}  // namespace frc