Robot drivetrains and models.
This crate provides types for representing and modeling different mobile robot drivetrain configurations. A drivetrain in ozton is the combination of a model which describes how the is able to move and a tracking system, which describes how the robot can track its motion.
At the heart of this crate is the [Drivetrain] struct, which bundles together a model and a
tracking system. The [Drivetrain] type can enacapsulate many different types of robot
drivetrains depending on how its model and tracking logic is implemented.