wpimath.kinematics Package

ChassisSpeeds([vx, vy, omega])	Represents the speed of a robot chassis.
DifferentialDriveKinematics(trackWidth)	Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velocities for a differential drive.
DifferentialDriveOdometry(gyroAngle, ...[, ...])	Class for differential drive odometry.
DifferentialDriveWheelSpeeds([left, right])	Represents the wheel speeds for a differential drive drivetrain.
MecanumDriveKinematics(frontLeftWheel, ...)	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel speeds.
MecanumDriveOdometry(kinematics, gyroAngle, ...)	Class for mecanum drive odometry.
MecanumDriveWheelPositions()	Represents the wheel speeds for a mecanum drive drivetrain.
MecanumDriveWheelSpeeds([frontLeft, ...])	Represents the wheel speeds for a mecanum drive drivetrain.
SwerveDrive2Kinematics(arg0, arg1)	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle).
SwerveDrive2Odometry(kinematics, gyroAngle, ...)	Class for swerve drive odometry.
SwerveDrive3Kinematics(arg0, arg1, arg2)	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle).
SwerveDrive3Odometry(kinematics, gyroAngle, ...)	Class for swerve drive odometry.
SwerveDrive4Kinematics(arg0, arg1, arg2, arg3)	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle).
SwerveDrive4Odometry(kinematics, gyroAngle, ...)	Class for swerve drive odometry.
SwerveDrive6Kinematics(arg0, arg1, arg2, ...)	Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module states (speed and angle).
SwerveDrive6Odometry(kinematics, gyroAngle, ...)	Class for swerve drive odometry.
SwerveModulePosition([distance, angle])	Represents the position of one swerve module.
SwerveModuleState([speed, angle])	Represents the state of one swerve module.