abstract class ThreeTrackingWheelLocalizer : Localizer
Localizer based on three unpowered tracking omni wheels.
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
ThreeTrackingWheelLocalizer(wheelPositions: List<Vector2d>, wheelOrientations: List<Double>)
Localizer based on three unpowered tracking omni wheels. |
open var poseEstimate: Pose2d
Current robot pose estimate. |
abstract fun getWheelPositions(): List<Double>
Returns the positions of the tracking wheels in the desired distance units (not encoder counts!) |
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open fun update(): Unit
Completes a single localization update. |