Kinematics#
The kinematics main functionality is computing feasible velocities (actually twists) from arbitrary velocities. They plays two roles in navground:
they helps behaviors to output feasible commands,
they acts as a lower level controller in simulation: commands outputted by a behavior are filtered through a kinematics before being actuated.
Kinematics are defined by the constraints they applies to velocities and match categories of agents, like wheeled robots, quadrotors, or humans,