TankLocalizer

Default localizer for tank drives based on the drive encoders.

getWheelPositions

wheel positions in linear distance units

getWheelVelocities

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

Constructors

public TankLocalizer TankLocalizer(Function0<List<Double>> getWheelPositions, Function0<List<Double>> getWheelVelocities, Double trackWidth)

public TankLocalizer TankLocalizer(Function0<List<Double>> getWheelPositions, Double trackWidth)

public final Function0<List<Double>> getWheelPositions

The last computed change in relative robot position.

Current robot pose estimate.

Current robot pose velocity (optional)

The last computed change in relative robot position.

Current robot pose estimate.

Current robot pose velocity (optional)

Current robot pose estimate.

public Unit update()

Completes a single localization update.