ThreeTrackingWheelLocalizer

Localizer based on three unpowered tracking omni wheels.

wheelPoses

wheel poses relative to the center of the robot (positive X points forward on the robot)

Constructors

Current robot pose estimate.

Current robot pose velocity (optional)

Current robot pose estimate.

Current robot pose velocity (optional)

Returns the positions of the tracking wheels in the desired distance units (not encoder counts!)

Returns the velocities of the tracking wheels in the desired distance units (not encoder counts!)

Current robot pose estimate.

Current robot pose velocity (optional)

public Unit update()

Completes a single localization update.