Added Swerve Drive Kinematics in mobile_robot_kinematics.rst #1712
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Signed-off-by: nitin <nitinmaurya2606@gmail.com>
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Signed-off-by: nitin <nitinmaurya2606@gmail.com>
christophfroehlich
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| * :math:`l` is the wheelbase (distance between front and rear wheels). | ||
| * :math:`w` is the track width (distance between left and right wheels). |
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could you add this to the sketch?
doc/images/swerve_drive.svg
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wheel 2 in moving forward has a different style. Do you mind copying the style of the other sketches? I.e., font type and style of the wheels
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and please add the definition of the steering angle, maybe to a detail view of a single wheel including v_{i,x}, v_{i,y}, l_{i,x} and l_{i,y}?
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| The `SwerveDriveKinematics` class updates the robot’s pose (:math:`x`, :math:`y`, :math:`\theta`) in the global frame using the computed chassis velocities. The global velocities are: | ||
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| .. math:: |
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we should move this to a global place, because this is the same for all controllers here. But can be done in a follow-up PR
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
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Description
This PR isolates documentation changes for the swerve drive controller, split from PR #1694 . It adds detailed kinematics explanations and a diagram for swerve drive robots with four independently controlled modules.
Changes
Added mobile_robot_kinematics.rst section on swerve drive kinematics, covering inverse/forward kinematics and odometry.
Included swerve_drive.svg to illustrate module orientations and velocity vectors.