com.acmerobotics.roadrunner.drive

Class TwoTrackingWheelLocalizer

com.acmerobotics.roadrunner.drive.TwoTrackingWheelLocalizer

All Implemented Interfaces:

Localizer

public class TwoTrackingWheelLocalizer
implements Localizer

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

Constructor Summary

Constructors

Constructor and Description
TwoTrackingWheelLocalizer(java.util.List<com.acmerobotics.roadrunner.Vector2d> wheelPositions, java.util.List<java.lang.Double> wheelOrientations) Localizer based on two unpowered tracking omni wheels and an orientation sensor.

Method Summary

Modifier and Type	Method and Description
double	getHeading() Returns the heading of the robot (usually from a gyroscope or IMU).
Pose2d	getPoseEstimate() Current robot pose estimate.
java.util.List<java.lang.Double>	getWheelPositions() Returns the positions of the tracking wheels in the desired distance units (not encoder counts!)
void	setPoseEstimate(Pose2d value) Current robot pose estimate.
void	update() Completes a single localization update.

Methods inherited from interface com.acmerobotics.roadrunner.drive.Localizer

getPoseEstimate, setPoseEstimate, update

Constructor Detail

TwoTrackingWheelLocalizer

public TwoTrackingWheelLocalizer(java.util.List<com.acmerobotics.roadrunner.Vector2d> wheelPositions,
                                 java.util.List<java.lang.Double> wheelOrientations)

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

Parameters:

wheelPositions - wheel positions relative to the center of the robot (positive X points forward on the robot)

wheelOrientations - angular orientations of the wheels measured counterclockwise from positive X in radians

wheelPositions - wheel positions relative to the center of the robot (positive X points forward on the robot)

wheelOrientations - angular orientations of the wheels measured counterclockwise from positive X in radians

Method Detail

getPoseEstimate

public Pose2d getPoseEstimate()

Current robot pose estimate.

setPoseEstimate

public void setPoseEstimate(Pose2d value)

Current robot pose estimate.

update

public void update()

Completes a single localization update.

getWheelPositions

public java.util.List<java.lang.Double> getWheelPositions()

Returns the positions of the tracking wheels in the desired distance units (not encoder counts!)

getHeading

public double getHeading()

Returns the heading of the robot (usually from a gyroscope or IMU).