extra_includes:
- wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
- wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
- wpi/math/kinematics/SwerveModuleAcceleration.hpp
- wpi/math/kinematics/SwerveDriveKinematics.hpp


classes:
  wpi::math::Kinematics:
    force_type_casters:
    - wpi::util::array
    template_params:
    - WheelPositions
    - WheelSpeeds
    - WheelAccelerations
    methods:
      ToChassisSpeeds:
      ToWheelSpeeds:
      ToTwist2d:
      Interpolate:
      ToChassisAccelerations:
      ToWheelAccelerations:


templates:
  DifferentialDriveKinematicsBase:
    qualname: wpi::math::Kinematics
    params:
    - wpi::math::DifferentialDriveWheelPositions
    - wpi::math::DifferentialDriveWheelSpeeds
    - wpi::math::DifferentialDriveWheelAccelerations
  MecanumDriveKinematicsBase:
    qualname: wpi::math::Kinematics
    params:
    - wpi::math::MecanumDriveWheelPositions
    - wpi::math::MecanumDriveWheelSpeeds
    - wpi::math::MecanumDriveWheelAccelerations
  SwerveDrive2KinematicsBase:
    qualname: wpi::math::Kinematics
    params:
    - wpi::util::array<wpi::math::SwerveModulePosition,2>
    - wpi::util::array<wpi::math::SwerveModuleState,2>
    - wpi::util::array<wpi::math::SwerveModuleAcceleration,2>
  SwerveDrive3KinematicsBase:
    qualname: wpi::math::Kinematics
    params:
    - wpi::util::array<wpi::math::SwerveModulePosition,3>
    - wpi::util::array<wpi::math::SwerveModuleState,3>
    - wpi::util::array<wpi::math::SwerveModuleAcceleration,3>
  SwerveDrive4KinematicsBase:
    qualname: wpi::math::Kinematics
    params:
    - wpi::util::array<wpi::math::SwerveModulePosition,4>
    - wpi::util::array<wpi::math::SwerveModuleState,4>
    - wpi::util::array<wpi::math::SwerveModuleAcceleration,4>
  SwerveDrive6KinematicsBase:
    qualname: wpi::math::Kinematics
    params:
    - wpi::util::array<wpi::math::SwerveModulePosition,6>
    - wpi::util::array<wpi::math::SwerveModuleState,6>
    - wpi::util::array<wpi::math::SwerveModuleAcceleration,6>