MecanumLocalizer
constructor(getWheelPositions: () -> List<Double>, getWheelVelocities: () -> List<Double>? = { null }, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0)
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