Navigation/com.amarcolini.joos.localization/MecanumLocalizer

MecanumLocalizer

public final class MecanumLocalizer implements DeadReckoningLocalizer

Default localizer for mecanum drives based on the drive encoders.

Parameters

getWheelPositions

wheel positions in linear distance units

getWheelVelocities

lateral distance between pairs of wheels on different sides of the robot

wheelBase

distance between pairs of wheels on the same side of the robot

lateralMultiplier

lateral multiplier

Constructors

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@JvmOverloads()
public MecanumLocalizer MecanumLocalizer(Function0<List<Double>> getWheelPositions, Function0<List<Double>> getWheelVelocities, Double trackWidth, Double wheelBase, Double lateralMultiplier)
@JvmOverloads()
public MecanumLocalizer MecanumLocalizer(Function0<List<Double>> getWheelPositions, Function0<List<Double>> getWheelVelocities, Double trackWidth, Double wheelBase)
@JvmOverloads()
public MecanumLocalizer MecanumLocalizer(Function0<List<Double>> getWheelPositions, Function0<List<Double>> getWheelVelocities, Double trackWidth)
@JvmOverloads()
public MecanumLocalizer MecanumLocalizer(Function0<List<Double>> getWheelPositions, Double trackWidth)

Properties

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@JvmField()
public final Function0<List<Double>> getWheelPositions
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@JvmField()
public final Function0<List<Double>> getWheelVelocities
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private final Pose2d lastRobotPoseDelta

The last computed change in relative robot position.

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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 getLastRobotPoseDelta()

The last computed change in relative robot position.

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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.