abstract class TwoTrackingWheelLocalizer : Localizer (source)
Localizer based on two unpowered tracking omni wheels and an orientation sensor.
wheelPoses - wheel poses relative to the center of the robot (positive X points forward on the robot)
<init> |
Localizer based on two unpowered tracking omni wheels and an orientation sensor. TwoTrackingWheelLocalizer(wheelPoses: List<Pose2d>) |
poseEstimate |
Current robot pose estimate. open var poseEstimate: Pose2d |
poseVelocity |
Current robot pose velocity (optional) open var poseVelocity: Pose2d? |
getHeading |
Returns the heading of the robot (usually from a gyroscope or IMU). abstract fun getHeading(): Double |
getHeadingVelocity |
Returns the heading of the robot (usually from a gyroscope or IMU). open fun getHeadingVelocity(): Double? |
getWheelPositions |
Returns the positions of the tracking wheels in the desired distance units (not encoder counts!) abstract fun getWheelPositions(): List<Double> |
getWheelVelocities |
Returns the velocities of the tracking wheels in the desired distance units (not encoder counts!) open fun getWheelVelocities(): List<Double>? |
update |
Completes a single localization update. open fun update(): Unit |