Navigation/com.amarcolini.joos.localization/SwerveLocalizer

SwerveLocalizer

public final class SwerveLocalizer implements DeadReckoningLocalizer

Default localizer for swerve drives based on the drive encoder positions and module orientations.

Parameters

modules

the individual swerve modules

modulePositions

the positions of all the modules relative to the center of rotation of the robot

Constructors

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@JvmOverloads()
public SwerveLocalizer SwerveLocalizer(List<SwerveModule> modules, Double trackWidth, Double wheelBase)

Default localizer for swerve drives based on the drive encoder positions and module orientations.

@JvmOverloads()
public SwerveLocalizer SwerveLocalizer(List<SwerveModule> modules, Double trackWidth)

Default localizer for swerve drives based on the drive encoder positions and module orientations.

public SwerveLocalizer SwerveLocalizer(List<SwerveModule> modules, List<Vector2d> modulePositions)

Properties

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private final Pose2d lastRobotPoseDelta

The last computed change in relative robot position.

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@JvmField()
public final List<SwerveModule> modules
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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.