core / com.acmerobotics.roadrunner.localization / ThreeTrackingWheelLocalizer

ThreeTrackingWheelLocalizer

abstract class ThreeTrackingWheelLocalizer : Localizer (source)

Localizer based on three unpowered tracking omni wheels.

Parameters

wheelPoses - wheel poses relative to the center of the robot (positive X points forward on the robot)

Constructors

<init>

Localizer based on three unpowered tracking omni wheels.

ThreeTrackingWheelLocalizer(wheelPoses: List<Pose2d>)

Properties

poseEstimate

Current robot pose estimate.

open var poseEstimate: Pose2d

Functions

getWheelPositions

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

abstract fun getWheelPositions(): List<Double>

update

Completes a single localization update.

open fun update(): Unit