com.acmerobotics.roadrunner.drive

Class MecanumDrive.MecanumLocalizer

com.acmerobotics.roadrunner.drive.MecanumDrive.MecanumLocalizer

All Implemented Interfaces:

Localizer

Enclosing class:

MecanumDrive

public static class MecanumDrive.MecanumLocalizer
implements Localizer

Default localizer for mecanum drives based on the drive encoders and (optionally) a heading sensor.

Constructor Detail

MecanumLocalizer

@JvmOverloads
public MecanumLocalizer(@NotNull
                                      MecanumDrive drive,
                                      boolean useExternalHeading)

Default localizer for mecanum drives based on the drive encoders and (optionally) a heading sensor.

Parameters:

drive - drive

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

MecanumLocalizer

@JvmOverloads
public MecanumLocalizer(@NotNull
                                      MecanumDrive drive)

Default localizer for mecanum drives based on the drive encoders 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.

getPoseVelocity

@Nullable
public Pose2d getPoseVelocity()

Current robot pose velocity (optional)

update

public void update()

Completes a single localization update.