com.acmerobotics.roadrunner.localization

Class TwoTrackingWheelLocalizer

com.acmerobotics.roadrunner.localization.TwoTrackingWheelLocalizer

All Implemented Interfaces:

Localizer

public class TwoTrackingWheelLocalizer
implements Localizer

Localizer based on two unpowered tracking omni wheels and an orientation sensor.

Constructor Detail

TwoTrackingWheelLocalizer

public TwoTrackingWheelLocalizer(@NotNull
                                 java.util.List<com.acmerobotics.roadrunner.geometry.Pose2d> wheelPoses)

Localizer based on two unpowered tracking omni wheels and an orientation sensor.

Parameters:

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

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)

setPoseVelocity

public void setPoseVelocity(@Nullable
                            Pose2d p)

Current robot pose velocity (optional)

update

public void update()

Completes a single localization update.

getWheelPositions

@NotNull
public java.util.List<java.lang.Double> getWheelPositions()

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

getWheelVelocities

@Nullable
public java.util.List<java.lang.Double> getWheelVelocities()

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

getHeading

public double getHeading()

Returns the heading of the robot (usually from a gyroscope or IMU).

getHeadingVelocity

@Nullable
public java.lang.Double getHeadingVelocity()

Returns the heading of the robot (usually from a gyroscope or IMU).