class SwerveLocalizer : Localizer (source)
Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor.
useExternalHeading - use external heading provided by an external sensor (e.g., IMU, gyroscope)
<init> |
Default localizer for swerve drives based on the drive encoder positions, module orientations, and (optionally) a heading sensor. SwerveLocalizer(drive: SwerveDrive, useExternalHeading: Boolean = true) |
poseEstimate |
Current robot pose estimate. var poseEstimate: Pose2d |
poseVelocity |
Current robot pose velocity (optional) var poseVelocity: Pose2d? |
update |
Completes a single localization update. fun update(): Unit |