interface Localizer
Generic abstraction for estimating robot pose over time.
abstract var poseEstimate: Pose2d
Current robot pose estimate. |
abstract fun update(): Unit
Completes a single localization update. |
class MecanumLocalizer : Localizer
Default localizer for mecanum drivetrains based on the drive encoders. |
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class SwerveLocalizer : Localizer
Default localizer for swerve drivetrains based on the drive encoder positions and module orientations. |
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class TankLocalizer : Localizer
Default localizer for tank drivetrains based on the drive encoders. |
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abstract class ThreeTrackingWheelLocalizer : Localizer
Localizer based on three unpowered tracking omni wheels. |
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abstract class TwoTrackingWheelLocalizer : Localizer
Localizer based on two unpowered tracking omni wheels and an orientation sensor. |