com.acmerobotics.roadrunner.drive

Class SwerveDrive.SwerveLocalizer

com.acmerobotics.roadrunner.drive.SwerveDrive.SwerveLocalizer

All Implemented Interfaces:

Localizer

Enclosing class:

SwerveDrive

public static class SwerveDrive.SwerveLocalizer
implements Localizer

Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.

Constructor Detail

SwerveLocalizer

@JvmOverloads
public SwerveLocalizer(@NotNull
                                     SwerveDrive drive,
                                     boolean useExternalHeading)

Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.

Parameters:

drive - drive

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

SwerveLocalizer

@JvmOverloads
public SwerveLocalizer(@NotNull
                                     SwerveDrive drive)

Default localizer for swerve drives based on the drive encoder positions, module orientations, 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.