ForwardKinematics (SwerveLibrary 0.1.0 API)

java.lang.Object
- frc.team88.swerve.motion.kinematics.ForwardKinematics

```
public class ForwardKinematics
extends java.lang.Object
```
Does the calculation to convert for sensed module state to robot position/velocity.

Constructor Summary

Constructors
Constructor Description

ForwardKinematics(SwerveModule... modules)
Constructor.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`OdomState`	`getOdom()`	Get the current robot pose.
`void`	`setOdom(OdomState state)`	Set the current robot pose.
`void`	`update()`	Update the current robot pose.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - ForwardKinematics
```
public ForwardKinematics(SwerveModule... modules)
```
    Constructor.
    
    Parameters:
    
    modules - The modules on this swerve drive.
- Method Detail
  - update
```
public void update()
```
    Update the current robot pose.
  - getOdom
```
public OdomState getOdom()
```
    Get the current robot pose.
    
    Returns:
    
    The current robot pose.
  - setOdom
```
public void setOdom(OdomState state)
```
    Set the current robot pose.
    
    Parameters:
    
    state - The current robot pose.