core / com.acmerobotics.roadrunner.drive / Localizer

Localizer

interface Localizer

Generic abstraction for estimating robot pose over time.

Properties

poseEstimate

abstract var poseEstimate: Pose2d

Current robot pose estimate.

Functions

update

abstract fun update(): Unit

Completes a single localization update.

Inheritors

MecanumLocalizer

class MecanumLocalizer : Localizer

Default localizer for mecanum drivetrains based on the drive encoders.

SwerveLocalizer

class SwerveLocalizer : Localizer

Default localizer for swerve drivetrains based on the drive encoder positions and module orientations.

TankLocalizer

class TankLocalizer : Localizer

Default localizer for tank drivetrains based on the drive encoders.

ThreeTrackingWheelLocalizer

abstract class ThreeTrackingWheelLocalizer : Localizer

Localizer based on three unpowered tracking omni wheels.

TwoTrackingWheelLocalizer

abstract class TwoTrackingWheelLocalizer : Localizer

Localizer based on two unpowered tracking omni wheels and an orientation sensor.