Navigation/com.amarcolini.joos.localization/HeadingLocalizer

HeadingLocalizer

public final class HeadingLocalizer implements Localizer

A localizer that uses a DeadReckoningLocalizer with an added heading sensor to increase accuracy.

Constructors

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public HeadingLocalizer HeadingLocalizer(AngleSensor headingSensor, DeadReckoningLocalizer deadReckoningLocalizer)

Properties

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private Pose2d poseEstimate

Current robot pose estimate.

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private final Pose2d poseVelocity

Current robot pose velocity (optional)

Functions

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public Pose2d getPoseEstimate()

Current robot pose estimate.

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public Pose2d getPoseVelocity()

Current robot pose velocity (optional)

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public Unit setPoseEstimate(Pose2d poseEstimate)

Current robot pose estimate.

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public Unit update()

Completes a single localization update.