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pamoja_mecanum_body_motion

pamoja_ffi::motion

Function pamoja_mecanum_body_motion 

Source 
#[unsafe(no_mangle)]
pub extern "C" fn pamoja_mecanum_body_motion(
    base: PamojaMecanum,
    wheels: PamojaWheelSpeeds,
) -> PamojaTwist
Expand description

Returns the body twist a mecanum base makes from measured wheel speeds.

§Arguments

  • base - the base.
  • wheels - the four measured wheel speeds.

§Returns

The body twist; its yaw rate is 0 for a base with no size.