Wheeled kinematics based class

module:

navground.core.kinematics

class WheeledKinematics

Bases: Kinematics

Abstract class for kinematics that have wheels and are completely determined when the speed of each wheel is known.

__init__(*args, **kwargs)

feasible_wheel_speeds(value: navground.core.Twist2) → list[float]

Convert a twist to feasible wheel speeds

Parameters:

value – The twist

Returns:

The corresponding wheel speeds.

twist(value: list[float]) → navground.core.Twist2

Convert wheel speeds to a twist

Parameters:

value – The wheel speeds

Returns:

The corresponding twist

wheel_speeds(value: navground.core.Twist2) → list[float]

Convert a twist to wheel speeds

Parameters:

value – The twist

Returns:

The corresponding wheel speeds.