Module kinematics 

Kinematics utilities for 3-wheeled omni-directional robots.

The EmbodiedKinematics struct computes wheel velocity mappings based on desired translational and rotational motion and inverts wheel measurements back to body velocities.

Example

use owb_core::utils::math::kinematics::EmbodiedKinematics;
let kin = EmbodiedKinematics::new(0.148, 0.195);
let wheel_speeds = kin.compute_wheel_velocities(1.0, 90.0, 0.0, 0.0);

Structs

EmbodiedKinematics

Represents the kinematics of a three-wheeled omni-wheel robot.