abstract class TwoTrackingWheelLocalizer : Localizer
Localizer based on two unpowered tracking omni wheels and an orientation sensor.
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
TwoTrackingWheelLocalizer(wheelPositions: List<Vector2d>, wheelOrientations: List<Double>)
Localizer based on two unpowered tracking omni wheels and an orientation sensor. |
open var poseEstimate: Pose2d
Current robot pose estimate. |
abstract fun getHeading(): Double
Returns the heading of the robot (usually from a gyroscope or IMU). |
|
abstract fun getWheelPositions(): List<Double>
Returns the positions of the tracking wheels in the desired distance units (not encoder counts!) |
|
open fun update(): Unit
Completes a single localization update. |