Module mecanum 

Mecanum wheel inverse kinematics.

Wheel layout (top-down view, rollers shown as / and \):

  FL \/  /\ FR        +X (forward)
                        ^
  RL /\  \/ RR          |  +omega (CCW)
                        +---> +Y (left)

Functions

mecanum_ik

Compute per-wheel speeds from body-frame velocity commands.