com.acmerobotics.roadrunner.localization

Class ThreeTrackingWheelLocalizer

com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer

All Implemented Interfaces:

Localizer

public class ThreeTrackingWheelLocalizer
implements Localizer

Localizer based on three unpowered tracking omni wheels.

Constructor Summary

Constructors

Constructor and Description
ThreeTrackingWheelLocalizer(java.util.List<com.acmerobotics.roadrunner.geometry.Vector2d> wheelPositions, java.util.List<java.lang.Double> wheelOrientations) Localizer based on three unpowered tracking omni wheels.

Method Summary

Modifier and Type	Method and Description
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.localization.Localizer

getPoseEstimate, setPoseEstimate, update

Constructor Detail

ThreeTrackingWheelLocalizer

public ThreeTrackingWheelLocalizer(@NotNull
                                   java.util.List<com.acmerobotics.roadrunner.geometry.Vector2d> wheelPositions,
                                   @NotNull
                                   java.util.List<java.lang.Double> wheelOrientations)

Localizer based on three unpowered tracking omni wheels.

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

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.

getWheelPositions

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

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