TwoTrackingWheelLocalizer

Localizer based on two unpowered tracking omni wheels and an orientation sensor.

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)

public abstract Angle getHeading()

Returns the heading of the robot (usually from a gyroscope or IMU).

Returns the heading of the robot (usually from a gyroscope or IMU).

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.