com.acmerobotics.roadrunner.localization

Interface Localizer

All Known Implementing Classes:

MecanumDrive.MecanumLocalizer, SwerveDrive.SwerveLocalizer, TankDrive.TankLocalizer, ThreeTrackingWheelLocalizer, TwoTrackingWheelLocalizer

public Localizer

Generic interface for estimating robot pose over time.

Method Detail

getPoseEstimate

@NotNull
Pose2d getPoseEstimate()

Current robot pose estimate.

setPoseEstimate

void setPoseEstimate(@NotNull
                     Pose2d p)

Current robot pose estimate.

getPoseVelocity

@Nullable
Pose2d getPoseVelocity()

Current robot pose velocity (optional)

update

void update()

Completes a single localization update.