Struct EmbodiedKinematics 

pub struct EmbodiedKinematics { /* private fields */ }

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

Implementations

impl EmbodiedKinematics

pub fn new(wheel_radius: f32, robot_radius: f32) -> Self

Instantiate with a given wheel and robot radii.

pub fn convert_to_body_frame( speed: f32, angle: f32, orientation: f32, ) -> (f32, f32)

Transform a global motion command into body-frame velocities.

speed is the translational magnitude, angle and orientation are in degrees (0° = +X, increasing CCW). Returns (vx, vy) in the robot’s body frame.

pub fn construct_jacobian(&self) -> [[f32; 3]; 3]

Build Jacobian J such that ω_wheels = J * [vx, vy, ω_body]

pub fn compute_body_velocity(&self, wheel_velocity: [f32; 3]) -> (f32, f32, f32)

Recover body velocities from measured wheel speeds.

Returns

(vx, vy, ω) where vx/vy are linear body-frame velocities and ω is angular velocity.

pub fn compute_wheel_velocities( &self, speed: f32, angle: f32, orientation: f32, omega: f32, ) -> [f32; 3]

Compute wheel angular velocities to achieve the desired motion.

speed is forward translational speed, angle and orientation are in degrees, and omega is rotational speed (deg/sec). Returns an array of wheel speeds.