#include <kinematics.hpp>

Public Attributes
std::array< std::array< float, 4 >, 3 >	inv_matrix {}
std::array< float, 4 >	ticks_to_rad {}
std::array< std::array< float, 3 >, 4 >	fwd_matrix {}
std::array< float, 4 >	bemf_offset {}

Detailed Description

Pre-baked inverse kinematics matrix for STM32-side odometry.

Returns a 3×4 row-major matrix that maps wheel angular velocities (rad/s) directly to body-frame [vx (m/s), vy (m/s), wz (rad/s)]. Wheel radius and geometry constants are already folded into the coefficients. Unused wheel columns are zero (e.g. differential drive uses only columns 0 and 1).

Also returns per-motor ticks_to_rad calibration values.

Definition at line 123 of file kinematics.hpp.

Member Data Documentation

◆ bemf_offset

std::array<float, 4> libstp::kinematics::IKinematics::StmOdometryConfig::bemf_offset {}

Definition at line 128 of file kinematics.hpp.

◆ fwd_matrix

std::array<std::array<float, 3>, 4> libstp::kinematics::IKinematics::StmOdometryConfig::fwd_matrix {}

Definition at line 127 of file kinematics.hpp.

◆ inv_matrix

std::array<std::array<float, 4>, 3> libstp::kinematics::IKinematics::StmOdometryConfig::inv_matrix {}

Definition at line 125 of file kinematics.hpp.

◆ ticks_to_rad

std::array<float, 4> libstp::kinematics::IKinematics::StmOdometryConfig::ticks_to_rad {}

Definition at line 126 of file kinematics.hpp.

The documentation for this struct was generated from the following file:

/home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-kinematics/include/kinematics/kinematics.hpp