commit c68b350a87a7be18b5caaada9af1bbde8ec43af9
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Wed Oct 09 07:56:18 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Thu Oct 31 21:08:59 2024 -0700
tree ce626add7b9b4953a552690768b13beb8d577265
parent 2a951e24ce39b0186c84fe0aab4ed669f21b70e0

Add rudimentary inverse kinematics calculator

This adds some swerve inverse kinematics that primarily serve to provide
a sanity-check and seed for more sophisticated calculations.

Change-Id: I6b214026eb53e6e47c24f4538a0b3c057f9d1751
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/control_loops/swerve/BUILD

diff --git a/frc971/control_loops/swerve/BUILD b/frc971/control_loops/swerve/BUILD
index 637e42c..50130e8 100644
--- a/frc971/control_loops/swerve/BUILD
+++ b/frc971/control_loops/swerve/BUILD
@@ -469,3 +469,21 @@
         "@com_google_absl//absl/log",
     ],
 )
+
+cc_library(
+    name = "inverse_kinematics",
+    hdrs = ["inverse_kinematics.h"],
+    deps = [
+        ":simplified_dynamics",
+        "//aos/util:math",
+    ],
+)
+
+cc_test(
+    name = "inverse_kinematics_test",
+    srcs = ["inverse_kinematics_test.cc"],
+    deps = [
+        ":inverse_kinematics",
+        "//aos/testing:googletest",
+    ],
+)