com.acmerobotics.roadrunner.drive

Class SwerveDrive.SwerveLocalizer

com.acmerobotics.roadrunner.drive.SwerveDrive.SwerveLocalizer

All Implemented Interfaces:

Localizer

Enclosing class:

SwerveDrive

public static class SwerveDrive.SwerveLocalizer
implements Localizer

Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.

Constructor Summary

Constructors

Constructor and Description
SwerveLocalizer(SwerveDrive drive, boolean useExternalHeading) Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.
SwerveLocalizer(SwerveDrive drive) Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.

Method Summary

Modifier and Type	Method and Description
Pose2d	getPoseEstimate() Current robot pose estimate.
void	setPoseEstimate(Pose2d value) Current robot pose estimate.
void	update() Completes a single localization update.

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

getPoseEstimate, setPoseEstimate, update

Constructor Detail

SwerveLocalizer

@JvmOverloads
public SwerveLocalizer(@NotNull
                                     SwerveDrive drive,
                                     boolean useExternalHeading)

Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.

Parameters:

drive - drive

useExternalHeading - use external heading provided by an external sensor (e.g., IMU, gyroscope)

SwerveLocalizer

@JvmOverloads
public SwerveLocalizer(@NotNull
                                     SwerveDrive drive)

Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.

Parameters:

drive - drive

Method Detail

getPoseEstimate

@NotNull
public Pose2d getPoseEstimate()

Current robot pose estimate.

setPoseEstimate

public void setPoseEstimate(@NotNull
                            Pose2d value)

Current robot pose estimate.

update

public void update()

Completes a single localization update.